• Proceedings of the KIEE Conference
• /
• 2008.04a
• /
• pp.248-250
• /
• 2008

본 논문은 GP(Genetic Programming)을 이용한 4족 보행 로봇의 새로운 걸음새 생성 방식에 대해 소개한다. 4족 보행로봇의 걸음새 생성문제는 다양한 파라미터를 통시에 최적화해야 하는 매우 어려운 문제이다. 본 논문에서는 GP를 기반으로 관절좌표계에서 로봇의 관절 궤석을 직접 제어하는 방식을 사용한다. 이는 기존의 특정한 형태의 발끝의 자취를 사용하는 방법들에 비해 효율적이며 구조적으로 제한피지 않는 특징을 가진다. 또한, 새로운 트리구조기반의 GP 연산자의 적용을 통해 더 좋은 결과를 얻을수 있었다.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.11
• /
• pp.36-45
• /
• 1992

A numerical trajectory planning method for path-constrained trajectory planning is proposed which ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities. For each robot, physical constraints of the robots such as limited torques or limited rotational velocities of the actuators are converted to the constraints on velocity and acceleration along the path, which is described by a scalar variable denoting the traveled distance from starting point. Collision region is determined on the coordination space according to the kinematic structures and the geometry of the paths of the robots. An Extended Coordination Space is then constructed` an element of the space determines the postures and the velocities of the robots, and all the constraints described before are transformed to some constraints on the behaviour of the coordination-velocity curves in the space. A dynamic programming technique is them provided with on the discretized Extended Coordination Space to derive a collision-free and time-optimal trajectory pair. Numerical example is included.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1993.10a
• /
• pp.588-592
• /
• 1993

본 연구에서는 로봇의 교시, 궤적계획, 충돌, 로봇동작, 제어알고리즘 등의 평가에 유용하게 사용할 수 있는 다기능 오프라인 프로그래밍 시스템인 POLPS(Pusan_national_university's Off-Line Programming System) 를 개발하였다. POLPS은 4축 스카라형 FARA 로봇을 대상으로 개발되었고, 편리한 방법으로 교시작업을 수행할 수 있으며, 교시 내용에 따라 궤적계획을 수행한 후 로봇을 동작시켜 충돌을 회피하는 동적 시뮬레이션을 수행할 수 있다. 제안된 여러 제어알고리즘 중에서 주어진 작업에 적합한 제어알고리즘을 효율적으로 선정하기 위한 성능의 비교와 평가 기능을 갖추고 있는 것이 주요한 특징이다. 또한 시각위치변경, 온선. 온면제거 및 음영처리, 고속 애니메이션, 환경구성, 인터프리터 명령어 등의 다양한 기능으로 편리하게 사용할 수 있다.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.22 no.6
• /
• pp.1365-1376
• /
• 1997

In this paper, we designed real time mechanism control language and proposed execution time analysis technique. It was impossible to handle real-time mechanism control programs like programmable controller, numerical controller, distributed control system and robot controller with general purpose programming languages and operating systems because they have to process electric signals generated by thousands of sensors at the same at the same time and in real time. So we made it possible to predict plausibility of time constraint constructs of tiem constraint construct of a real time application program at compilation time by adding time constraint constructs and mechanism synchronization structure to conditional statement and iteration statement of a programming language and developing execution time analysis technique.

• Proceedings of the KAIS Fall Conference
• /
• 2009.12a
• /
• pp.144-147
• /
• 2009

본 연구에서는 21세기 지식정보사회에 학생들의 창의력 향상을 위하여 MSRDS에서 제공하는 에디터인 VPL(Visual Programming Language)를 이용한 로봇 프로그래밍 학습이 창의력에 미치는 효과를 연구하였다. VPL은 로봇 애플리케이션 개발을 프로그래머가 아닌 학생들도 쉽게 사용할 수 있도록 MSRDS에서 제공하는 프로그램이며, 이를 시뮬레이션과 연결시켜 로봇 하드웨어가 없이 손쉽게 학습을 할 수 있게 하였다. 이를 위하여 VPL에서 사용하는 기본 Activity를 이용하여 프로그래밍의 구문을 자연스럽게 학습할 수 있는 수업 내용을 개발하였으며, 연구 대상은 충청남도 B군에 위치한 B공고 3학년의 컴퓨터응용관련 학과 1개반을 대상으로 C언어를 이용한 기존의 마이크로 장비 프로그래밍 수업과 VPL을 이용한 로봇 프로그래밍 수업을 상호 비교하려고 한다. 이 연구에서는 VPL을 통하여 손 쉽게 프로그래밍을 하고 흥미가 유발되어 자신이 생각한 대로 로봇의 동작을 구현하는 과정에서 자연스럽게 문제해결능력이 신장된 것을 확인하고자 한다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.4
• /
• pp.392-398
• /
• 2008

We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra's algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.04a
• /
• pp.153-158
• /
• 2000

This paper addresses an intelligent robot control system using an off-line programming to teach a precise assembly task of electronic components in a flexible way. The investigated task consists of three job: heat caulking test, soldering on a circuit board, and checking of soldering defects on the back cover of a camera. This study investigates the remodelling of the most complicated cell in terms of the accuracy and fault rate among the twelve cells in a camera back-cover assembly line. We have attempted to enhance back-cover assembly line. We have attempted to enhance soldering quality, to add task flexibility, to reduce failure rate, and to increase product reliability. This study modifies the cell structure, and improves the soldering condition. The developed all system implements the real-time control of assembly with vision data, and realized an easier task teaching on off-line programming.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.6
• /
• pp.1372-1380
• /
• 1993

Surface trimming is an essential function in a surface modeler for representing multi-boundary surfaces, blended surfaces, and surfaces with islands or pockets. A procedure and a data structure for designing trimmed surfaces were developed. For generating a trimmed surface, edges (curves difined on a surface) are generated and trimmed first. Then the trimmed edges are selected sequentially to form a closed loop. The data of supporting surface, surface on which the trimmed surface is defined, and bounding edges are stored and used for the application such as NC programming, robot programming, graphic display, etc.

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.8
• /
• pp.37-44
• /
• 2008

Nowadays, the increasing global competition forces manufacturer to reduce the cost and time for implementation of manufacturing system. The AR(augmented reality) technology as a new human-machine interface introduces a noteworthy perspective for a new manufacturing system design. Using AR technology, a physically existing production environment can be superimposed with virtual planning objects. Therefore, the planning tasks can be validated without modeling the surrounding environment of the production domain during short process planning time. In this paper, we introduce the construction of AR browser and determine the optimal environment parameters for field application of AR system through lots of tests. And, many methods such as multi-marker coordinate system, division of virtual objects and so on, are proposed in order to solve the problems suggested from initial field test. Based on these tests and results, the test-bed of C/Pad assembly system is configured and robot program for C/Pad assembly is generated based on AR system.

• Transactions on Control, Automation and Systems Engineering
• /
• v.2 no.1
• /
• pp.56-61
• /
• 2000

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which result in the trajectory tracking error in the joint control system. The control performance of a redundant manipulator under independent joint control can be improved by minimizing this joint disturbance torque in resolving the kinematic redundancy. A 3 DOF planar robot is studied as an example, and the dynamic programming method is used to find the globally optimal joint trajectory that minimize the joint disturbance torque over the entire motion. The resulting solution is compared with the solution obtained by the conventional joint torque minimization, and it is shown that joint disturbance can be reduced using the kinematic redundancy.