• Title/Summary/Keyword: robot control software

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Human-like Balancing Motion Generation based on Double Inverted Pendulum Model (더블 역 진자 모델을 이용한 사람과 같은 균형 유지 동작 생성 기술)

  • Hwang, Jaepyung;Suh, Il Hong
    • The Journal of Korea Robotics Society
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    • v.12 no.2
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    • pp.239-247
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    • 2017
  • The purpose of this study is to develop a motion generation technique based on a double inverted pendulum model (DIPM) that learns and reproduces humanoid robot (or virtual human) motions while keeping its balance in a pattern similar to a human. DIPM consists of a cart and two inverted pendulums, connected in a serial. Although the structure resembles human upper- and lower-body, the balancing motion in DIPM is different from the motion that human does. To do this, we use the motion capture data to obtain the reference motion to keep the balance in the existence of external force. By an optimization technique minimizing the difference between the motion of DIPM and the reference motion, control parameters of the proposed method were learned in advance. The learned control parameters are re-used for the control signal of DIPM as input of linear quadratic regulator that generates a similar motion pattern as the reference. In order to verify this, we use virtual human experiments were conducted to generate the motion that naturally balanced.

Implementation of a Self Controlled Mobile Robot with Intelligence to Recognize Obstacles (장애물 인식 지능을 갖춘 자율 이동로봇의 구현)

  • 류한성;최중경
    • Journal of the Institute of Electronics Engineers of Korea SP
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    • v.40 no.5
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    • pp.312-321
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    • 2003
  • In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.

Development of Chip-based Precision Motion Controller

  • Cho, Jung-Uk;Jeon, Jae-Wook
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.1022-1027
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    • 2003
  • The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

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A Context-aware Workflow System for URC Services (URC 서비스를 위한 상황인지 기반의 워크플로우 시스템)

  • Choi, Jong-Sun;Kwak, Dong-Gyu;Choi, Jae-Young;Cho, Yong-Yun
    • Journal of KIISE:Software and Applications
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    • v.37 no.9
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    • pp.676-686
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    • 2010
  • An URC (Ubiquitous Robot Companion) is aimed for providing the best service according to situational information that it recognizes. In order to offer human-friendly and intelligent services, a robot middleware requires the technique to automate and control URC service processes, which are based on context-awareness. In this paper, we propose a context-aware workflow system to provide web services based URC services according to situational information. The proposed system offers a platform-independent command object model to control heterogeneous URCs, and supports web services based context-aware URC services. Therefore, the proposed system can increase the reliability of URC services in ubiquitous network environment, on which the diverse URC robots and platforms exist. And it can enhance the flexibility and adaptability of the functional and structural changes of URC systems.

Sampling-based Control of SAR System Mounted on A Simple Manipulator (간단한 기구부와 결합한 공간증강현실 시스템의 샘플 기반 제어 방법)

  • Lee, Ahyun;Lee, Joo-Ho;Lee, Joo-Haeng
    • Korean Journal of Computational Design and Engineering
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    • v.19 no.4
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    • pp.356-367
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    • 2014
  • A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.

Real-Time Motion Tracking Detection System for a Spherical Pendulum Using a USB Camera (USB 카메라를 이용한 실시간 구면진자 운동추적 감지시스템)

  • Moon, Byung-Yoon;Hong, Sung-Rak;Ha, Manh-Tuan;Kang, Chul-Goo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.40 no.9
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    • pp.807-813
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    • 2016
  • Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.

Development of a synthetic library automation system

  • Lee, Jeong-Hun;Kim, Young-Lyul;Lim, Sung-Jin;Ki, Hwan-Eom;Lee, Jong-Ik;Kim, Jong-Hyun
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.1710-1713
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    • 2003
  • We developed the synthetic library automation system. Developed system is comprised of two main units: an auto sorting system of books and a wireless management system. An auto sorting system is composed of a book return machine, a robot system, and an emergency bookshelf. A book return machine is operated by magnetic removal-revival. A wireless management system is development of RFID, or radio frequency identification, and is composed of a RF module and uninhabited return machine and a loss prevention system. The software for the synthetic library automation system is divided into three groups. We realized the developed automation system, and then get the features.

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Hardware Implementation for Real-Time Speech Processing with Multiple Microphones

  • Seok, Cheong-Gyu;Choi, Jong-Suk;Kim, Mun-Sang;Park, Gwi-Tea
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.215-220
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    • 2005
  • Nowadays, various speech processing systems are being introduced in the fields of robotics. However, real-time processing and high performances are required to properly implement speech processing system for the autonomous robots. Achieving these goals requires advanced hardware techniques including intelligent software algorithms. For example, we need nonlinear amplifier boards which are able to adjust the compression radio (CR) via computer programming. And the necessity for noise reduction, double-buffering on EPLD (Erasable programmable logic device), simultaneous multi-channel AD conversion, distant sound localization will be explained in this paper. These ideas can be used to improve distant and omni-directional speech recognition. This speech processing system, based on embedded Linux system, is supposed to be mounted on the new home service robot, which is being developed at KIST (Korea Institute of Science and Technology)

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Software architecture for Robot control system Based on IEEE-­1394 Network (IEEE-­1394 네트웍 기반 분산형 로봇 제어기의 소프트웨어 구조에 관한 연구)

  • 윤기중;박재현;김홍석
    • Proceedings of the Korean Information Science Society Conference
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    • 2003.10c
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    • pp.343-345
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    • 2003
  • 현재 대부분의 로봇 제어용 네트웍으로는 FieldBus 등이 사용되고 있다. 그러나 로봇 시스템의 고성능화와 다양한 기능으로 인하여 기존의 FieldBus가 제공하던 기능으로는 대역폭에서나 성능면에서 부족한 점이 나타나고 있다. IEEE1394는 이러한 로봇 제어용 네트웍에 매우 적합한 특성을 갖고 있다. 본 논문에서는 IEEE1394가 로봇 제어용 네트웍에 사용될 때 가질 수 있는 실시간성과 신뢰성 특징에 대해 분석해보고, IEEE1394의 특성을 잘 살릴 수 있는 제어용 소프트웨어 구조에 대해 연구하고 이를 구현한다. 실시간성 데이터를 위해서는 우선순위 큐를 이용한 패킷 전송방법을, 주기적 데이터를 위해서 등시성 전송방법을 이용한다.

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Design and Implementation of A Hovering AUV with A Rotatable-Arm Thruster (회전팔 추진기를 가진 시험용 HAUV의 설계 및 구현)

  • Shin, Dong H.;Bae, Seol B.;Joo, Moon G.;Baek, Woon-Kyung
    • IEMEK Journal of Embedded Systems and Applications
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    • v.9 no.3
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    • pp.165-171
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    • 2014
  • In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.