• 한국지능시스템학회논문지
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• 제15권4호
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• pp.486-491
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• 2005

본 논문에서는 기존 홈오토메이션 시스템보다 효율적이고 능동적인 시스템 모델을 제안하며, 기존 시스템의 한계점을 해결하기 위해서 지능형 이동 로봇을 사용한다. 제안된 시스템은 집안에서 사용하기에 적합하도록 특화된 로봇을 사용하며, 이 로봇은 사람 대신 집안을 돌아다닌다. 이 시스템 모델을 HAuPIRS (Home Automation system using PDA based Intelligent Robot System) 라고 부르기로 한다. HAuPIRS제어 구조는 사용자 레벨, 인지 레벨, 실행 레벨의 세 파트로 구성된다. 이 시스템은 사용하기 쉽고, 기술의 발전에 따른 새로운 가전기기가 나오더라도 확장이 가능하다 HAuPIRS제어 구조의 성능을 검증하기 위해서 HAuPIRS 제어 구조를 기반으로 한 PBMoRo System (PDA Based Mobile Robot System) 을 만들어 실험하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2005년도 춘계학술대회 학술발표 논문집 제15권 제1호
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• pp.221-224
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• 2005

This paper proposes the system model that is more efficient and active than formal home automation system and it can conquer the limits of formal one using intelligent mobile robot. This system uses specialized intelligent mobile robot for home environment and the robot moves around home instead of human. We call the system model to HAuPIRS (Home Automation system using PDA based Intelligent Robot System). HAuPIRS control architecture is composed three parts and each part is User Level, Cognitive Level, Executive Level. It is easy to use system and possible to extend the home apparatusfrom new technology. We made the PBMoRo System (PDA Based Mobile Robot System) based on HAuPIRS architecture and verified the efficiency of the system model.

• 국제학술발표논문집
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• The 4th International Conference on Construction Engineering and Project Management Organized by the University of New South Wales
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• pp.31-37
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• 2011

Construction automation is yet to be improved since construction site still faces a lot of high risks and difficulties. This research focuses on applying robotic beam assembly system in place of construction workers. This system consists of CF (Construction Factory) structure to provide adequate working environment to robot automation. The CF structure not only gives automation environment for a robot but also houses the equipments to protect from outside effects. The robotic beam assembly system also consists of robotic bolting system and robot transport mechanism. It utilizes various tools to insert and join the bolts and nuts. Visual servoing helps precise robot motion by sensing bolt hole and tail of the bolt. ITA system helps non skilled workers to easily perform the assembly work with the robot system. The robot transport mechanism includes sliding rail and cross-wired lift. It carries the robot to a desired position for assembly work.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2024년도 제69차 동계학술대회논문집 32권1호
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• pp.307-309
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• 2024

세계적으로 물류 자동화 시장은 2026년까지 약 44조원으로 예상되며, 연평균 10.6%의 성장률을 기록할 것으로 예측된다. 특히 국내 시장은 2025년까지 연평균 성장률 11.5%로 1조원 이상으로 전망되고 있다. 2025년까지 물류 자동화 시장은 270억 달러로 급성장할 것으로 예상되며, 반도체 분야에서 로봇이 상품 입고, 보관, 상품 피킹, 분류, 출고 작업을 담당하는 트렌드가 강조된다. 본 논문은 반도체 물류 분야를 대상으로 작은 크기와 민첩성을 갖춘 로봇을 개발하여 작업 공간을 효율적으로 활용하고 인력을 최소화하려는 목적이다. 수직 및 수평 로봇은 효율적인 자동화 시스템을 제공하며, UI를 사용하여 AGV, 선반, 스카라 로봇을 하나의 통합 시스템으로 개발하고자 한다. 특히 코드 인식, 초음파 센서, 아두이노 MCU, 스카라 로봇, AGV 등을 활용한 로봇 시스템을 개발하여 반도체 물류 작업을 효율적으로 수행하고자 한다. 다양한 분야에서 활용 가능한 스카라 로봇을 개발하기 위해 마이크로 스텝과 풀리, 타이밍 벨트를 이용한 구동 방식 등을 채택한다. 반도체 물류 센터에서의 자동화는 물류 공간의 확대와 인건비 절감을 기대할 수 있으며, 로봇 및 드론을 활용하여 인건비 절감과 효율성 향상을 통해 기업 비용 절감에 기여할 것으로 예상된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1396-1399
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• 1996

With the progress in process automation, it becomes necessary that a robot should have various sophisticated capabilities. A robot programming language is a tool that can give a robot such capabilities without any change in robot architecture. Especially a task level automatic programming system enables a robot able to perform a job intelligently. Therefore anyone who is not an expert on welding or robot programming can easily use it. In this research, basic automatic welding program is combined with workspace information, which makes users do an arc welding job automatically.

• 동력기계공학회지
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• 제19권3호
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• pp.75-80
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• 2015

Typically, robot system configured by articulated robot manipulator with 1 DOF transfer unit is being applied in automotive manufacturing automation process. Especially, 1 DOF transfer unit is necessary to extend workspace of robot manipulator. In this configuration, because transfer unit works only one direction, robot manipulator only works in one side in case of car body painting or sealing automation process. it is necessary three robot manipulator system at least. In this paper, in order to robot manipulator works effectively in car body sealing automation application, we are suggested omni-directional manipulator system and conducted studying on redundancy resolution method to solve manipulability-optimal problem.

• 한국산업융합학회 논문집
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• 제25권5호
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• pp.909-915
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• 2022

In this paper, a robot automation technology for chemical tank lorry unloading is presented. Handling chemical coupler between tank lorry and ACQC system may be hazardous or toxic to human operators, therefore robot automation is essential. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, compliance between male and female couplers should be introduced with 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a collaborative robot, 6-ax is compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1280-1283
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• 1996

The labels are used for products configuration of the labeling in hot coil. Robot system is constructed to labeling in hot coils automatically, so we achieve the confidence of labeling work and the promotion of operation efficiency.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.444-450
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• 2011

Environmental change, labor shortage, and international trade politics make agricultural automation ever more important. The automation demands the highest technology due to the nature of agriculture. In this paper, autonomous pesticide spray robot system has been developed for rose farming in the glass house. We developed drive platform, navigation/localization system, atomization spray system, autonomous, remote, and manual operation system, and monitoring system. The robot will be a great contribution to automation of hazardous labor-demanding chore of pesticide control in glass houses.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.546-548
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• 1998

This paper deals with ZMP trajectory generation in multi step walking of IWR-III(Inha Walking Robot) Biped Walking Robot. Biped walking is realized by combining 6-types of pre-defined steps and the actual ZMP can be used as a stability index of a robot. For the good tracking of actual ZMP, desired ZMP trajectory is generated during the whole walking time not for each step. Trajectory generation is performed considering velocities and accelerations of given via points using 5-th order polynomial interpolation method. As a result, balancing joints have a more smooth and continuous motion and actual ZMP has a better tracking ability. Numerical simulator is done by MATLAB to guarantee the walking of a robot satisfying the ZMP stability.