• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.3
• /
• pp.248-255
• /
• 2013

This paper proposes the architecture of the RILS (Robot-in-the-Loop-Simulation) consisting of the robot, the virtual robot, and the avatar robot which is the type of virtual robots operating according to the robot status and behavior. And the synchronization algorithm for mobilization part of the avatar robot is suggested, which reduces the difference between behaviors of the robot and those of the avatar robot. This difference occurs due to the environmental and mechanical mismatches between the robot and avatar robot. In order to reduce this difference in robots behaviors, the synchronization algorithm controls the avatar robot based on the data observed from the robot's behavior. The proposed architecture and the synchronization algorithm are validated from some simulation results.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.1201-1206
• /
• 2007

Robot simulation technique is essential not only for robot developers to design robotic systems but also for robot operators to predict robot motion, configure system layout, and increase robot ability. However, commercial robot simulation software such as ROBCAD, IGRIP, and so on are expensive and sometimes they are difficult to customize into industrial purpose programming for users. Therefore, user-based simulation programming is required to magnify the efficiency of robot system. In this paper, we show the methodology of developing user-based robot simulation programming using PC(personal computer), Open-Inventor, and Windows Programming. The developed programming has been successfully applied to welding robot systems of a shipbuilding industry. Also, the methodology presented here can be easily extended to simulate manipulators of other typed mechanism on user's PC.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.4
• /
• pp.8-14
• /
• 2008

This paper aims at finding out dominant robot configurations with maximal position errors, which can be attributed to the parameter errors, by using Monte-Carlo simulation for error analysis of a 3-axis SCARA(Selective Compliance Assembly Robot Arm) type robot. In particular, the Monte-Carlo simulation is used for virtually measuring on the position errors, instead of physical measurement. In order to measure the observability of the model parameters with respect to a set of robot configurations, we propose the observability index which is defined as the product of singular values for error propagation matrices. Thus the index can be used for discriminating dominant robot configurations from a set of simulated ones in conjunction with standard deviation of positional errors, This paper analyzed error by robot positional error.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.364-369
• /
• 1988

In this study, a model for the simulation of the material flow not only inside a robot cell with flexible handling sequence but also between robot cells is presented. A method for the connection of special simulation programs has been developed and a logic model between a real system and a simulation system is employed.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.20 no.4
• /
• pp.49-56
• /
• 2021

This paper describes the modeling and simulation of a four-axis dedicated robot that can attach and detach a workpiece on a computer numerical control (CNC) lathe. The robot was modeled as a Scarab robot for compatibility with CNC lathes. The advantages of such a robot are that an actuator with a small capacity can be used for the robot and the degrees of freedom of the robot can be reduced to four. For the simulation of the four-axis dedicated robot, a regular kinematic equation and an inverse kinematic equation were derived. Simulations were performed with these equations from the position of the loading device to the chuck position of the lathe before machining and from the chuck of the lathe to the position of the loading device after machining. The simulation results showed that the four-axis dedicated robot could be operated accurately, and they provided the joint angle of each motor (θ1, θ2, and θ3).

• Journal of Digital Convergence
• /
• v.12 no.5
• /
• pp.425-433
• /
• 2014

The utilization of robots in programming education students the interest and motivation of learning. But at the same time the robot is required that understanding of the structure and understand the internal program(programming). So what problems are caused by error or if the student has difficulty identifying. The purpose of this study is the use of simulation tool in robot programming education possibilities will want to see. Elementary school students to analyze the possibility of non-simulation tool and simulation tool was applied. And usability evaluation and simulation tool, the survey recognized the potential of the education were analyzed. As a result, the usability of between simulation tool and non-simulation tool and there was no difference. And student can preview the results of programming and simulation tool can easily identify errors for recognizing the positive respectively. Based on this results, simulation tool can be utilized in robot education.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.11 no.6
• /
• pp.127-134
• /
• 2008

An autonomous reconnaissance ground robot performs its duty in various different environments such as mountain-scape, desert and under-water through changing its shape and form according to the environment it is working in. Making a prototype robot for each environment requires extra cost and time. It is also difficult to modify the problem after production. In this paper, we propose the adoption of M&S(Modeling & Simulation) environment for the production and design of the autonomous reconnaissance ground robot. The proposed method on the M&S environment contributed to the more effective and less time consuming production of the robot through the Pre-Modeling and Pre-Simulation process. For example, we showed the design and implementation of the autonomous reconnaissance ground robot under the proposed environment and tools.

• Journal of the Korea Society for Simulation
• /
• v.1 no.1
• /
• pp.55-63
• /
• 1992

This paper presents a simulation based analysis of a service robot operating in a robot-centered FMC, in which the robot is located at the approximate center of the cell and the machines are arranged in a partial circle around it. The robot's function is to locate and service the parts which require a series of unloading, moving, and loading operations. The main purpose of the analysis is to determine the best movement decision for the robot's arm in each instance. The results from the study, based on both statistical and nonstatistical analysis suggest the best policy for the robot's arm's movement that holds promise for application to the robot-centeredFMC.

• Journal of Digital Contents Society
• /
• v.19 no.4
• /
• pp.815-819
• /
• 2018

In this study, we investigate balance of a biped robot applying Foot Placement Estimator (FPE) in simulation. FPE method is used to determine a stable foot location for balancing the biped robot when an initial orientation of the robot body is statically unstable. In this case, the 6-DOF biped robot with point foot is modelled considering contact and friction between foot and the ground. For simulation, the mass of the robot is 1 kg assuming the center of robot mass (COM) is located at the center of the robot body. The height from the ground to the COM is 1 m. Robot balance is achieved applying stable foot locations calculated from FPE method using linear and angular velocities, and the height of the COM. The initially unstable angular postures, $5^{\circ}$ and $-5^{\circ}$, of the robot body are simulated. Simulation results confirm that the FPE method provides stable balance of the robot for all given unstable initial conditions.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.12 no.1
• /
• pp.27-32
• /
• 2002

This paper describes a fuzzy steering controller for an outdoor autonomous mobile robot using MR(magneto-resistive) sensor. Using the magnetic field difference values(dBy, dBz) obtained from the MR sensor, we designed fuzzy logic controller for driving the robot on the road center and proposed a method to eliminate the Earth magnetic field. To develop an autonomous mobile robot simulation program, we have done modeling MR sensor, mobile robot and coordinate transformation. A computer simulation of the robot including mobile robot dynamics and steering was used to verify the driving performance of the mobile robot controller using the fuzzy logic. So, we confirmed the robustness of the proposed fuzzy controller by computer simulation.