• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2433-2435
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• 2002

The purpose of this paper is to introduce a case study of developing a miniature biped robot. The biped robot has a total of twenty-one degrees of freedom(DOF) ; There are two legs which have six DOF each, two arms which have three DOF each and a waist which has three DOF. RC servo-motors were used as actuators. We have developed motor controller, sensor controller and ISA-interface card. Motor controller, PWM generator, can control eight motors Sensor controller is connected to eight FSR(Force Sensing Resistors). For high level controller communicate with low level controller, ISA-interface card has developed. For the stable walking, CMAC(Cerebellar Model Articulation Controller) neural network algorithm is applied to our system CMAC is robust at noise.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.725-730
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• 2012

In this paper, we propose the localization algorithm for the cooperative behavior of the swarm robots based on WSN (Wireless Sensor Network). The proposed method is as follows: First, we measure positions of the L-bot (Leader robot) and F-bots (Follower robots) by using the APIT (Approximate Point In Triangle) and the RSSI (Received Signal Strength Indication). Second, we measure relative positions of the F-bots against the pre-measured position of the L-bot by using trilateration. Then, to revise a position error caused by noise of the wireless signal, we use the particle filter. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.892-896
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• 2005

This paper presents method of depriving the relationship between static passive RFID tag and mobile robot In the field of tag-range. We use probabilistic sensor model of RFID reader by experiments. And we proposed estimation techniques by using direction of identification and relative-distance from the sensor model. Corresponding to distribution of identification, we can correct estimated tag position in relative coordinate. Simulation and Experimental Results show that the proposed method can provide good performance and thus be used fer mobile-robot localization.

• 한국산학기술학회논문지
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• 제15권12호
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• pp.6986-6992
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• 2014

일반화된 보로노이 그래프(GVG)는 자율 주행 로봇을 위한 일종의 로드맵으로서. GVG는 선서에다 받은 정보만 사용하여 작업 공간거리의 계산에 따라 정의를 한다. 로봇은 장애물까지의 최대 거리를 검출할 수 있기 때문에 포인트 뷰에서 GVG의 최적은 정출 몇 장애물 회피이다. 로봇의 경우에는, GVG는 가장 안전적인 길이라고 할 수 있다. 따라서 높이 링크 로봇의 GVG가장거리에 대한 연구가 매우 필요하다. 기존 연구에서 점(point) 로봇을 위한 GVG(point-GVG)와 로드 로봇을 위한 GVG(rod-GVG)가 발표되었다. 이 논문은 더 고차원의 로봇인 두 개의 동일 링크가 관절로 연결된(tow-identical-link; L2) 로봇을 위한 GVG(L2-GVG)에 대한 연구이다. L2-GVG는 미지의 평면 작업공간에서 움직이는 L2 로봇의 짜임새 공간 $R^2{\times}T^2$상에서 로드맵을 생성하되, 이전 연구와 마찬가지로 지역적 센서 정보만을 이용해 로봇이 스스로 주행하면서 맵을 만들어 낸다. 이 논문에서는 이전 point-GVG와 rod-GVG에서는 나타나지 않는, 관절이 존재하여 생기는 복잡한 특성에 대해서 분석한다. 이는 다관절 로봇으로의 확장에 중요한 초석이 될 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1099-1104
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• 2003

In this paper, the position control of a car-like mobile robot using neural network is proposed. The positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as references, the robot posture by localization is corrected by a cascaded controller. In order to improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The remotely located neural network filter modifies the reference trajectories to minimize the positional errors by wireless communication. A car-like mobile robot is built as a test-bed and experimental studies of proposed several control algorithms are performed. It turns out that the best position control can be achieved by a cascaded controller with neural network.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1122-1129
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• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• 한국정밀공학회지
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• 제31권1호
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• pp.43-50
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• 2014

This paper introduces a robot platform which can do weeding while traveling between rice seedlings stably against irregular land surface of a paddy field. Also, an autonomous navigation technique that can track on stable state without any damage of the seedlings in the working area is proposed. Detection of the rice seedlings and avoidance knocking down by the robot platform is achieved by the sensor fusion of a laser range finder (LRF) and an inertial measurement unit (IMU). These sensors are also used to control navigating direction of the robot to keep going along the column of rice seedling consistently. Deviation of the robot direction from the rice column that is sensed by the LRF is fed back to a proportional and derivative controller to obtain stable adjustment of navigating direction and get proper returning speed of the robot to the rice column.

• 전자공학회논문지SC
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• 제37권2호
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• pp.16-28
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• 2000

In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion"method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion"method is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we peformed simulations in PC as well as real experiments with ZIRO. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• 전기전자학회논문지
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• 제24권1호
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• pp.275-283
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• 2020

본 연구에서는 저가형 소형 이동로봇을 이용한 선도-추종 로봇시스템을 개발하였다. 개발한 이동로봇은 시중에서 쉽게 구할 수 있는 저렴한 부품을 사용하여 학교나 실험실 등에서 쉽고 빠르게 제작할 수 있는 장점이 있다. 그리고 이 로봇에 장착된, 7개의 저가형 적외선 거리 센서로 구성된 센서 어레이의 위치인식 특성을 분석하고, 이를 기반으로 선도로봇의 위치인식 알고리즘을 제안하였다. 개발한 선도-추종 로봇을 이용한 정지 및 주행 실험을 통해 제안된 알고리즘의 타당성을 검증하였다.