• Journal of Sensor Science and Technology
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• v.19 no.3
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• pp.221-229
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• 2010

In recent studies, many methods have been studied for mobile robot using magnetic markers on its pathway. This is not influenced by the weather conditions, and makes possible to develop controller with low level processors and simple algorithms. However, the interval between magnets is restricted by the magnetic field intensity and it is impossible to get road information ahead. This paper suggests a method of widening markers and expressing the road information ahead using magnetic markers, and explains a sensor arrangement considering suggested methods. Also, magnetic field analysis was done to investigate the effects of widening magnetic markers with various environments. A small mobile robot was made to figure out the performance of suggested methods, and driving experiments were performed on the straight and curved road with magnetic markers. The results show that the robot moved the prearranged pathway with 0.5 cm lateral displacements and stopped at a stop line using magnetic information on the road.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1491-1495
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• 2004

For the evaluation of the mobile robot performance in complex environments, the experimental approach in an actual physical environment has been commonly taken. In the physical experimental approach, however, it is quite difficult to define the proper environment for the evaluation due to the lack of commonly agreed characteristics of the test environment. Particularly the number of combinations of types and physical parameters of the obstacles that the mobile robot is expected to deal with is practically unlimited. In an effort to simplify and improve the effectiveness of the evaluation process, we propose an evaluation method using decomposed environmental elements, where we evaluated the performance of the robot for a small group of simple and decomposed obstacle components, for examples projection and slope, instead of a large group of complicated random obstacles. The paper describes a set of simple obstacle models and performance parameters that we have chosen for the effective evaluation process. As an alternative to the physical experimental evaluation approach, in this paper, we used a virtual evaluation environment where the robot and the physical test environment has been modeled using a commercial multi-body dynamics analysis packaged called RecurDyn.

• Journal of Ocean Engineering and Technology
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• v.26 no.6
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.86-100
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• 2008

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.3
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• pp.602-607
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• 2009

Most of explorer robot in past has the fixed magnitude and communicate with wire communication method. In case of various range of pipe's width and various angle in pipe inter structure, the exploring work is very difficult. Thus, in this paper, we design as dealing with spring tension with pushing out pipe exterior, and applied RF communication. We can accept good performance both structure change and improvement of ability, monitor and collect the defaults data in pipe inter structure. Newly designed and developed pipe explorer robot is very advantageous to carrying and driving as being small and law weight.

• The Journal of Korea Robotics Society
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• v.16 no.4
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• pp.291-298
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• 2021

In this study, we present a multi-sensor module for snake robot searching survivors in a narrow space. To this end, we integrated five sensor systems by considering the opinions of the first responders: a gas sensor to detect CO₂ gases from the exhalation of survivors, a CMOS camera to provide the image of survivors, an IR camera to see in the dark & smoky environment, two microphones to detect the voice of survivors, and an IMU to recognize the approximate location and direction of the robot and survivors. Furthermore, we integrated a speaker into the sensor module system to provide a communication channel between the first responders and survivors. To integrated all these mechatronics systems in a small, compact snake head, we optimized the positions of the sensors and designed a stacked structure for the whole system. We also developed a user-friendly GUI to show the information from the proposed sensor systems visually. Experimental results verified the searching function of the proposed sensor module system.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.5
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• pp.799-810
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• 2022

Welding work is a production work method widely used throughout the industry, and various types of welding technologies exist. In addition, many methods are being studied to automate these welding operations using robots, but in the ship manufacturing field, welding such as painting, cutting, and grinding is also the most common operation, but the manual operation ratio is higher than in other industries. Such a high manual labor ratio in the field of ship manufacturing not only causes quality problems and production delays according to the skill of workers, but also causes problems in the supply and demand of manpower. Therefore, this paper analyzed the reason why the automation rate is low in welding work at ship manufacturing sites compared to other industries, and analyzed the production process and field environment for small and medium-sized ship manufacturing companies that repeatedly manufactured with a small quantity production method. Based on the analysis results, it is intended to propose a robot system that can easily move between workplaces and secure uniform welding quality and productivity by collaborating simple welding tasks with humans. Finally, the simulation environment is constructed and analyzed to secure the suitability of robot system application to current production site environment, work process, and productivity, rather than to develop and apply the proposed robot system. Through such pre-simulation and robot system suitability analysis, it is expected to reduce trial and error that may occur in actual field installation and operation, and to improve the possibility of robot application and positive perception of robot system at ship manufacturing sites.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.3
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• pp.206-212
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• 2015

This paper proposes the physical human-robot interaction method that controls the robot arms using ITO touch panel sensor as the skin of robot. To implement physical human-robot interaction, the method of using the force/torque sensor and the method of using tactile sensor created by arranging small element type of sensor have been studied. However, these sensors have the pros and cons in terms of price and performance. This study aims to demonstrate the economy of element type sensor and the accuracy of force/torque sensor through experiment by proposing the method of physical interaction using the touch panel as the skin of robot, and by constructing overall system. The experiment was carried out for the method of controlling the robot arm by installing end-effecter and the method of controlling robot arm by creating the gesture with reference point on the touch panel. Through this experiment, the possibility of teaching control using the touch panel was confirmed.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.187-192
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• 2008

A saturation and deadzone compensator is designed for robot systems using fuzzy logic (FL) and neural network (NN). The classification property of FL system and the function approximation ability of the NN make them the natural candidate for the rejection of errors induced by the saturation and deadzone. The tuning algorithms are given for the fuzzy logic parameters and the NN weights, so that the saturation and deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The NN saturation and FL deadzone compensator is simulated on a robot system to show its efficacy.