• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.458-461
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• 1997

We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 추계학술대회 논문
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• pp.150-155
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using digital signal processors for robot manipulators. TMS3200C50 is used in implementing real-time adaptive control algorithms provide advanced performance for robot manipulator. In this paper an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm and controller parameters are detemined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• 동력기계공학회지
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• 제14권3호
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• pp.39-45
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• 2010

The dynamic stability of a robot vehicle can be enhanced by the Force-Angle Stability Margin concept that considers a variety of dynamic effects. To evaluate the robot vehicle stability, a SPI(stability performance index), which is a function of the suspension arm angles, was used. If the SPI has a minimum value, the robot vehicle has maximum stability. The FASM and SPI concepts were incorporated in the mobility simulation by using ADAMS and MATLAB/Simulink. The simulation results using these concepts showed significant improvements of the vehicle stability on rough terrains.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.754-758
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS320C50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator, In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters we determined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• 전기학회논문지P
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• 제57권2호
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• pp.109-114
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• 2008

In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested and evaluated for tracking of the desired trajectory and compared with the conventional servo controller.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.349-359
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• 1998

A robot control scheme for specific application a line-tracking system is newly presented. To improve the performance of line-tracking, robot arm dynamics and torque constraints are incorporated into the control scheme. The tracking problem for the workpiece on a variable-speed conveyor is formulated as an optimal tracking problem with specific criteria. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system. Simulation results are given to verify good tracking performance with fast cycle time and high accuracy in a robotic workcell.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권9호
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• pp.538-545
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• 2000

In this paper we proposed a new map construction and path planning method for mobile robot. In our proposed method first we introduced triangular representation map that mobile robot can navigate through shorter path and flexible motion instead of grid representation map for mobile robot navigation. method in which robot can navigate complete space through as short path as possible in unknown environment is proposed. Finally we proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed triangular representation map it was compared with the existing distance transform path planning method. And we considered complete coverage navigation and new path planning method through several examples.

• 로봇학회논문지
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• 제13권4호
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• pp.205-212
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• 2018

This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2011년도 춘계 학술논문 발표대회 2부
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• pp.77-79
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• 2011

As residents and building owners demand maintenance that is required to achieve sustainable building performance, efficient building management methods are required. Even though the demand for maintenance systems is increasing, current maintenance work for high-rise buildings mostly uses conventional ropes and gondolas that pose a high risk of accidents and exhibit poor performance and efficiency. Thus, there is an urgent need to develop an automation robot system that can reduce accidents and improve the maintenance efficiency of the conventional high-rise building façade maintenance system. As a preceding work for the development of an automation robot system, this study classified and analyzed the work processes of actual construction sites and proposed basic techniques for the work mechanisms of the robot system by investigating the motions of cleaning workers.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2022년도 가을 학술논문 발표대회
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• pp.155-156
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• 2022

In the process of developing an industrial robot, various simulations should be conducted to evaluate the driving, movement, and performance of the robot. Space and time constraints exist to manufacture existing robots and implement various simulations, and efficiency is reduced due to high costs. To solve this problem, many simulations can be conducted by implementing the same movement and working environment as the real environment in virtual reality using digital twin technology. This study proposes a process for establishing a digital twin model of automated layout robots. Using the digital twin model, it is expected that it will not only evaluate the hardware performance of the robot in the future, but also verify the robot's algorithms such as motion planning and work process, identify and solve potential problems in advance, and prevent problems caused by software.