• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.1
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• pp.98-102
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• 2015

This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.2
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• pp.133-138
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• 2011

RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.

• Journal of the Korea Society for Simulation
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• v.17 no.4
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• pp.249-257
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• 2008

This paper shows the Applied Q-learning Algorithm which supports selecting the waiting position of a robot and the part serviced next in the Flexible Manufacturing Cell (FMC) that consists of one robot and various types of facilities. To verify the performance of the suggested algorithm, we design the general FMC made up of single transfer robot and multiple machines with a simulation method, and then compare the output with other control methods. As a result of the analysis, the algorithm we use improve the average processing time and total throughputs as well by increasing robot utilization, reversely, by decreasing robot waiting time. Furthermore, because of ease of use compared with other complex ways and its adoptability to real world, we expect that this method contribute to advance total FMC efficiency as well.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3_1spc
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• pp.607-614
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• 2013

This paper proposes a robot driving system and sensor implementation for use with an education robot. This robot has multiple functions and was designed so that children could use it with interest and ease. The robot recognizes the location of a user and follows that user at a specific distance when the robot and user communicate with each other. In this work, the robot was designed and manufactured to evaluate its performance. In addition, an embedded board was installed with the purpose of communicating with a smart phone, and a camera mounted on the robot allowed it to monitor the environment. To allow the robot to follow a moving user, a set of sensors combined with an RF module and ultrasonic sensors were adopted to measure the distance between the user and the robot. With the help of this ultrasonic sensors arrangement, the location of the user couldbe identified in all directions, which allowed the robot to follow the moving user at the desired distance. Experiments were carried out to see how well the user's location could be recognized and to investigate how accurately the robot trackedthe user, which eventually yielded a satisfactory performance.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.2
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• pp.125-130
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• 2016

In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.45 no.4
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• pp.142-149
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• 2022

This study attempts to analyze the economic impact of the service robot industry using Input-Output analysis, which is conducted based on Demand-driven model, the Leontief price model, the Backward and Forward Linkage Effects, and the Exogenous Methods. In a Demand-driven model analysis, we can conclude that the service robot industry contains characteristics of both the manufacturing industry and the service industry, which causes a positive impact on the overall industry by compensating for the weaknesses of the two industries. The Leontief price analysis indicates when wages in the service robot industry increase, prices related to robot manufacturing also increase. Also, when profits in the service robot industry increase, prices related to service provision increase, too. The Backward and Forward Linkage Effects analysis shows that the service robot industry is highly sensitive to the current economic condition and has a great influence on the service industry. The service robot industry can highlight the aspect of service characteristics when the manufacturing industry is in recession and vice versa. In addition, the service robot industry can be regarded as a value-adding and domestic economy promoting industry which utilizes knowledge of information and communication technologies. It is important to foster the service robot industry in South Korea, which is in economic recession to provide an opportunity to stimulate the growth of both service and robot industries.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.3 no.2
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• pp.73-78
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• 2004

In this paper, the instrument for scientific education in elementary school is developed with the application of basic robot technology for coming IT future world. Particularly, a kind of robot game to fun a race with each other is planed to give a motive or interest in scientific education. This robot game is played with two robots per player, One robot is moved wirelessly with a remote controller and the other robot is moved automatically with intelligence given by computer program made by a player. This game system will be in spotlight as multi-objective educational system not only to teach basic technology of IT, but also to improve the ability for logical and creative thought in elementary school students.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.9 no.3
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• pp.1-7
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• 2010

The aim of this research is to evaluate movement and path characteristics of developed heavy duty handling robot using laser tracker(API T3) according to the ISO 9283 robot performance evaluation criteria. As carry out 3D modeling and simulation using CATIA, a test cube was set up to select moving and measuring range of robot. Performance test for pose and distance accuracy, path and path velocity accuracy under payload zero and 440kgf was accomplished. The resulted output data show the reliability of the developed robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.4
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• pp.386-394
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• 2011

This paper is concerned with the application of the vision control scheme for robot's point placement task in discontinuous trajectory caused by obstacle. The proposed vision control scheme consists of four models, which are the robot's kinematic model, vision system model, 6-parameters estimation model, and robot's joint angles estimation model. For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. Each obstacle region consists of 3 cases, according to the variation of number of cameras that can not acquire the vision data. Then, the effects of number of cameras on the proposed robot's vision control scheme are investigated in each obstacle region. Finally, the practicality of the proposed robot's vision control scheme is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.6
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• pp.33-38
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• 2011

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.