• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.151-159
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• 1999

A self-propulsive polishing robot is proposed as a method which automates a floor polisher. The proposed robot with two rotary brushes does not require any mechanism such as wheels to obtain driving forces. When the robot polishes a floor with its two brushes rotating, friction forces occur between the two brushes and the floor. These friction forces are used to move the robot. Thus, the robot can move in any direction by controlling the two rotary brushes properly. In this paper, firstly a dynamics model of a brush is presented. It computes the friction force between the brush and the floor. Secondly, the dynamics of the proposed robot is presented by using the bush dynamics. Finally, the inverse dynamics is solved for the basic motions, such as the forward, backward, leftward, rightward motions and the pure rotaion. This paper will contribute to realize a self-propulsive polishing robot as proposed above, In addition, this paper will give basic ideas to automate the concrete floor finishing trowel, because its basic idea for motion is similar to that of the proposed robot.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.753-757
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• 2015

This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.279-286
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• 2017

In this paper, we proposed a method to determine the acceleration/deceleration time of the motion for reducing the residual vibration caused by the resonance of the robot in the high-speed motion. The relationship between the acceleration/deceleration time and the residual vibration was discussed for the trapezoidal velocity profile by analyzing the time when the jerk happens. The natural frequency of the robot can be estimated in advance through the dynamics simulation. The simulation and experiment for both cases where the moving distance of the robot is long enough and the distance is short, are implemented in the 1-DOF linear robot. Simulation and experimental results show that when the acceleration/deceleration time is a multiple of the vibration period, the settling time and the amplitude of the residual vibration become less than when the time is not a multiple.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.35-44
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• 2012

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

• International Journal of Control, Automation, and Systems
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• v.1 no.3
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• pp.395-400
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• 2003

A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that, by using the force/moment direction sensor method, the teaching times were reduced by 25% for Task A and 45% for Task B compared to the teaching pendant method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.12
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• pp.8563-8567
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• 2015

We propose a human-robot interaction(HRI) platform based on motion capture and mapping. Platform consists of capture, processing/mapping, and action parts. A motion capture sensor, computer, and avatar and/or physical robots are selected as capture, processing/mapping, and action part(s), respectively. Case studies-an interactive presentation and LEGO robot car are presented to show the design and implementation process of Kinect based HRI platform.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.8
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• pp.193-200
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• 2001

Recently, the concrete floor finishing robot, which can be used for flattening and smoothing the concrete floor, has been developed in Korea and Japan. While the previous research assumes that the concrete floor is deformable and the trowel is rigid in modeling the concrete floor finisher, we assume that the concrete floor is rigid and the trowel is deformable. Based on this assumption, we derived the equations of motion and found the convergent velocity of the concrete floor finisher using the computer simulation. From these results, we can understand the relationship between the motion characteristics and the design and control parameter of the robot.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.66-73
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• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• Journal of Drive and Control
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• v.14 no.3
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• pp.25-31
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• 2017

This study presents a methodology for simulating a unified approach that controls interaction force between tool and objective by using a synthesis method of robot interacting control law for stabilizing the transient process of motion. Root locus is used to analyze stabilization of motion deviation characteristics. Based on responses of motion deviation, contact force is derived to satisfy exponential stability and we generate control input with respect to motion trajectories and interaction force. Moreover, simulation is applied to experimental application of a Cartesian robot driven by two stepper motors, and the noise of feedback signals is considered as presence of system inaccuracies, and the unified approach of interaction force control is examined precisely.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.861-867
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• 2006

This paper presents the robust mobile robot localization method exploiting redundant motion information acquired from three optical mice that are installed at the bottom of a mobile robot in a regular triangular form. First, we briefly introduce a low-cost optical motion sensor, HDNS-2000, and a commercial device driver development tools, WinDriver, to be used in this research. Second, we explain the basic principle of the mobile robot localization using the motion information from three optical mice, and propose the least squares based localization algorithm which is robust to the noisy measurement and partial malfunctioning of optical mice. Third, we describe the development of the experimental optical odometer using three PC optical mice and the user-friendly graphic monitoring program. Fourth, simulations and experiments are performed to demonstrate the validity of the proposed localization method and the operation of the developed optical odometer. Finally, along with the conclusion, we suggest some future work including the installation parameter calibration, the optical mouse remodelling, and the high-performance motion sensor adoption.