• Journal of Welding and Joining
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• 제14권2호
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• pp.96-105
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• 1996

Robot systems are widely utilized in the shipbuilding industry to enhance the productivity by automating the welding process. In order to increase productivity, it is necessary to reduce the time used for robot teaching. In this work, the automatic teaching system is developed for the subassembly process in the shipbuilding industry. A alser/vision sensor is designed to detect the weld seam and the image of the fillet joint is processed using the arm method. Positions of weld seams defined in the CAD database are transformed into the robot coordinate, and the dynamic programming technique is applied to find the sub-optimum weld path. Experiments are carried out to verify the system performance. The results show that the proposed automatic teaching system performs successfully and can be applied to the robot system in the subassembly process.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.729-734
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• 2005

One of the important research issues in mobile robot is how to detect the 3D environment fast and accurately, and recognize it. Sensing methods of utilizing laser structured light and/or stereo vision are representatively used among a number of methodologies developed to date. However, the methods are still in need of achieving high accuracy and reliability to be used for real world environments. In this paper to implement a new robotic environmental sensing algorithm is presented by combining the information between intensity image and that of laser structured light image. To see how effectively the algorithm applied to real environments, we developed a sensor system that can be mounted on a mobile robot and tested performance for a series of environments.

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.863-868
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• 2015

In this paper, the vibration of a single-wheel mobile robot is minimized by designing a filter. An AHRS (Attitude and heading reference system) sensor is used for measuring the state of the robot. The measured signals are analyzed using the FFT method to investigate the fundamental vibrational frequency with respect to the flywheel's speed of the gimbal system. The IIR notch filter is then designed to suppress the vibration at the identified frequency. After simulating the performance of the designated filter using the measured sensor data through extensive experiments, the filter is actually implemented in a single-wheel mobile robot, GYROBO. Finally, the performance of the designed filter is confirmed by performing the balancing control task of the GYROBO system.

• 한국공작기계학회논문집
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• 제10권4호
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• pp.123-129
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• 2001

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control tech-niques. To satisfy the requirements, importance of force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimated the contact force occurring between the end-effector of 2 DOF robots and environ-ment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipula-tors. where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.666-669
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• 2000

Localization is the process of aligning the robot's local coordinates with the global coordinates of a map. A mobile robot's location is basically computed by a dead reckoning scheme, but this position information becomes increasingly inaccurate during navigation due to odometry errors. In this paper, the method of building a map of a robot's environment using ultrasonic sensor data and the occupancy grid map scheme is briefly presented. Then, the search and matching algorithms to compensate for the odometry error by comparing the local map with the reference map are proposed and verified by experiments. It is shown that the compensated error is not accumulated and exists within the limited range.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.468-472
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• 1992

In recent years, lots of researches on autonomous mobile robot have been accomplished. However they focused on environment recognition and its processing to make a decision on the motion, And cooperative multi-robot, which must be able to avoid crash and to make mutual communication, has not been studied much. This paper deals with cooperative motion of two robots, 'Meari 1" and "Meari 2 " made in our laboratory, based on communication between the two. Because there is an interference on communication occurring in cooperative motion of multi-robot, many restrictive conditions are required. Therefore, we have designed these robot system so that communication between them is available and mutual interference is precluded, and we used fuzzy interference to overcome unstability of sensor data.of sensor data.

• 한국실천공학교육학회논문지
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• 제4권2호
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• pp.162-170
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• 2012

로봇이 수많은 작업을 수행하고 목표를 향해서 진행하기 위해서는 무엇보다 위치를 인식하는 것이 대단히 중요하다. 본 논문에서는 랜드 마크와 센서 네트워크 환경하에서 주행하는 로봇의 위치를 구별할 수 있는 위치 인식시스템을 제안한다. 전적으로 기본 지능형 로봇에 위치 인식 시스템과 환경 센서 모듈을 부가하여 구현하고, 이를 컴퓨터 시뮬레이션을 통해서 제안된 알고리즘이 합당함을 검증한다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.14-19
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• 2000

Recent requirements for the fast and accurate motion in industrial robot manipulator need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of 2 DOF robots and environment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• 대한기계학회논문집A
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• 제25권2호
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• pp.192-197
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• 2001

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is often installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of robots and environment in 3-D. The contact force monitoring system is developed based on the static and dynamic models of 3 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.435-438
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• 1987

In this paper, among the robot programming languages that enable processing of sensory information, eight exemplary languages are chosen, and investigated in terms of their characteristics, why they are designed the way they are, and the kind of sensors each language can use and apply to. In addition, the characteristics of each language is compared with one another from the sensor point of view and the flow of each language is analyzed from the robot language classification point of view. Finally, We investigate the progress and the requirements of the sensor-based robot programming languages for further developments.