• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.464-465
• /
• 2008

This paper proposed a robust controller in order to handle the boom vibration of inspection robot. While a inspection robot moves on boom with vibration by weight occurs. Therefore, Boom as structure like cantilever beam appears vibration by weight of inspection robot. The Z axis of inspection robot operates with Sliding structure. inspection robot is used "Fuzzy Controller" for position control with Z axis. The developed robot system is composed of the specially designed car for inspection robot. The proposed Fuzzy Controllers are used to track position reference signal of Z axis. A Experiment verify that the proposed Fuzzy Controller design method can achieve favorable control performance with regard to external disturbance.

• Journal of the Korean Society for Precision Engineering
• /
• v.27 no.10
• /
• pp.61-68
• /
• 2010

In order to let the humanoid robot walk on the uneven terrains, the robot's foot should have the similar structure and function as human's. The intelligent foot should be made up of toes and heel. When it walks on the uneven terrains, the foot's sole senses the force and adjusts foot's position before robot losing his balance. In this paper, the force sensors of robot's intelligent foot for having the similar structure and function like human are developed. The heel 3-axis force/moment sensor and toe force sensors for humanoid robot's intelligent foot is developed, and the characteristic tests of them are carried out. As a result of characteristic test, the interference error of the heel 3-axis force/moment sensor is less than 2.2%. It is thought that the developed force sensors could be used to measure the reaction forces which is applied the toes and the heel of a humanoid robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.556-559
• /
• 1997

In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.224-229
• /
• 1993

The robot has spread remarkably, is used not only in manufacturing but also in various other fields, and is becoming more popular in everyday life. At the same time, the functional demands for all manner of robots have been diversified. Education regarding robots has been developing in the computer, mechanism, sensor and artificial intelligence fields. Technical education which integrates all of the above is necessary and in great demand. We have developed an educational robot so that it can be used in education in fields including structure, sensory and brain function and can also organically integrate those.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1177-1180
• /
• 1996

In this paper, we propose an algorithm that realizes cooperative behavior by construction of autonomous mobile robot system. Each robot is able to sense other robots and obstacles, and it has the rule of behavior to achieve the goal of the system. In this paper, to improve performance of the whole system, we use Genetic Programming based on Natural Selection. Genetic Programming's chromosome is a program of tree structure and it's major operators are crossover and mutation. We verify the effectiveness of the proposed scheme from the several examples.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.84.5-84
• /
• 2002

In order to be a stand-alone structure, a biped robot should be designed of the effective mechanic structure and the smaller hardware system. This paper shows the design methodology of a biped robot controller using FPGA(Field Programmable Gate Array). A hardware system consists of DSP(Digital Signal Processor) as the main CPU and FPGA as the motor controller...

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.1-5
• /
• 1988

The realization of high quality robot control needs the improvement of computing speed of controller. In this paper, parallel processing method is considered for this purpose. A S/W algorithm for task scheduling is developed first, and then, an appropriate H/W structure is proposed. This scheme is applied to calculate inverse kinematics of PUMA robot. The simulation results show that the computing time when using three 8086/87's is reduced to 4.23 msec compared to 10 msec in case using one 8086/87.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.1
• /
• pp.45-51
• /
• 2000

In this Paper a basic technique of gantry robot control system has been developed to weld the curved part of a large structure. A welding robot is designed to rotate torch and make the torch angle normal to the welding surface. The Kalman filter is applied to obtain the smooth welding path signal from the noised Sensing data. A welding path finding algorithm has been developed in Turbo-C language.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.60 no.4
• /
• pp.172-174
• /
• 2011

This paper is presented for robot vacuum cleaners using BLDC motors. Recently, BLDC motors which require smaller size, lower sound noise and higher efficiency have been placed in high value-added products including robot vacuum cleaners, vehicle cars and other industry applications. The DC motors have higher sound noise, higher height of the size and lower efficiency due to electro-magnetic structure using the brushes and the commutators. The proposed BLDC motors are appropriate for the motors adequate in regards to higher efficiency, longer life cycle time, and smaller height of the size when robot vacuum cleaners go to some lower height of the space like under sleeping beds and because it's power source is batteries. The paper shows the performance of the BLDC motors designed by the Finite Element Analysis(FEA) of the electro-magnetic field. This paper shows the mechanical structure and the prototype of the motor with the impeller. The performance characteristics of the BLDC motors with the hall sensor controller are verified by the experimental results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.4
• /
• pp.445-450
• /
• 2009

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses hexagon distributed color-coded patches on the ceiling and a camera is installed on the robot facing the ceiling to recognize these patches. The proposed "cell-coded map", with the use of only seven different kinds of color-coded landmarks distributed in hexagonal way, helps reduce the complexity of the landmark structure and the error of landmark recognition. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.