• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.604-611
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• 2009

Modular snake-like robots are robust for failure and have flexible locomotion for environments, but are difficult to control. Various phase and evolutionary approaches for modular robots have been studied for many years, but there are few comparisons among these methods. In this paper, Phase, GAps, GA and GP approaches are implemented and compared for flat, stairs, and slope environments. In addition, simulations of the locomotion evolution for modular snake-like robot are executed in Webots environments.

• Proceedings of the Korean Society of Computer Information Conference
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• 2016.07a
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• pp.173-175
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• 2016

본 논문에서는 로봇 프로그래밍 교육을 통하여 예비 교사의 로봇에 대한 태도 변화를 살펴보았다. 로봇 프로그래밍 교육의 예비 교사의 로봇에 대한 태도에 미치는 영향을 살펴보기 위하여, ICT 교육을 받는 예비 교사와 프로그래밍 교육을 받는 예비 교사와 로봇에 대한 태도를 비교하였다. 비교를 통하여, ICT 교육을 받은 예비 교사와 프로그래밍 교육을 받은 예비 교사는 로봇에 대한 태도 변화가 없는 것을 확인할 수 있었다. 하지만 로봇 프로그래밍 교육을 받은 예비 교사들은 로봇에 대한 태도가 통계적으로 유의미한 변화가 나타났다. 또한, 예비 교사에게서 나타난 로봇에 대한 태도 변화는 로봇에 대한 부정적인 태도가 긍정적으로 바뀌는 데 영향을 준 것을 확인할 수 있었다. 이러한 결과를 통하여 로봇 프로그래밍 교육이 예비 교사의 로봇에 대한 태도를 긍정적으로 바꾸는 데 영향을 준다는 결론을 얻을 수 있었다.

• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.42-52
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• 2006

In order to utilize hydrodynamic drag force on articulated robots moving in an underwater environment, an optimum motion planning procedure is proposed. The drag force acting on cylindrical underwater arms is modeled and a directional drag measure is defined as a quantitative measure of reaction force in a specific direction in a workspace. A repetitive trajectory planning method is formulated from the general point-to-point trajectory planning method. In order to globally optimize the parameters of repetitive trajectories under inequality constraints, a 2-level optimization scheme is proposed, which adopts the genetic algorithm (GA) as the 1st level optimization and sequential quadratic programming (SQP) as the 2nd level optimization. To verify the validity of the proposed method, optimization examples of periodic motion planning with the simple two-link planner robot are also presented in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.635-642
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• 1989

We formulated the multi-robot trajectory problem into a series of NLP problem, each of which is that of finding the optimal tip positions of the robots for the next time step. The NLP problem is composed of an objective function and three constraints, namely: a) Joint position limits, b) Joint velocity limits, and c) Collision-avoidance constraints. By solving a series of NLP problem, optimally coordinated trajectories can be determined without requiring any prior path information. This is a novel departure from the previous approach in which either all paths or at least one path is assumed to be given. Practical application of the developed method is for optimal synthesis of multiple robot trajectories in off-line. To test the validity and effectiveness of the method, numerical examples are illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.821-825
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• 1991

This paper presents an architecture and control logic of a Flexible Manufacturing Cell (FMC) which is one of the important elements under Computer Integrated Manufacturing (CIM) environment. To implement FMC, it is very important to develop a software which can control and monitor the overall system in an integrated environment. Our primary concern in this research is not to develop individual systems, but to integrate them in the hierarchical control level. Progress on the research of integrating CAD/CAM, Process Planning, Off-line Robot Programming and Simulation module into FMC control system is reported. FMC hardware system used here has an Automated Storage & Retrieval System (AS/RS), a conveyor system, a transfer robot, a CNC milling machine, a bar-code system, and an IBM PC/AT as Cell Control System (CCS). In order to demonstrate the operational result, the name plates, text-carved aluminium plates, are manufactured by this system.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.4
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• pp.111-117
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• 1998

In order to increase productivity of an assembly system composed of multiple robots along a conveyer line, an efficient sequence planning is necessary because the assembly time is dependent upon the assembly sequence. In this paper, a two-robot assembly system is considered in which two robots operate simultaneously and transfer parts from the part feeders to the workpiece on the conveyer one by one. In this case, the distance from the feeder to the workpiece varies with time because the workpiece moves at a constant speed on the conveyer. Hence, the sequence programming is not a trivial problem. Also, the two robots may interfere with each other kinematically and dynamically due to the simultaneous operation, so the sequence should be programmed to avoid the interferences. In this paper, the task sequence optimization problem is formulated and is solved by employing the simulated annealing which has been shown to be effective for solving large combinatorial optimizations.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.347-350
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• 2008

모듈라 뱀형 로봇은 고장에 대한 강인성과 환경에 유연한 이동 특성을 가지고 있으나, 제어가 어렵다는 단점이 있다. 진화연산을 로봇에 이용한 많은 연구가 진행되어 왔지만, 어떤 기법의 진화연산이 문제에 더 적합하고, 높은 성능을 얻을 수 있는지에 대한 비교는 거의 이루어지지 않고 있다. 본 논문은 두 가지 대표적인 진화기법인 GA와 GP를 이용하여 모듈라 뱀형 로봇의 이동 제어를 수행하였다. 대상 로봇은 H/W로 구현이 가능한 실제 모듈로 구성되었고, Webots을 사용하여 시뮬레이션 실험을 수행하였으며, GA와 GP 기법에 의한 결과를 비교 분석하였다.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.937-940
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• 1988

The problem of minimization of energy, consumed by the robot manipulator, is important, notably for larger manipulators, higher working speeds, and loads. Obviously, the stated problem requires the application of optimal control theory, which is being successfully applied for linear system and certain classes of nonlinear systems. However, the application of optimal control theory(in energy or time optimization) leads to substantial practical difficulties, so that significant simplifications are usually performed, either in model complexity or by neglecting the existing constraints. In this paper the problem of obtaining such an optimization method. which would take into account the complete system dynamics and all the constraints is considered. The only method found to be suitable for such a complex optimization should be based on dynamic programming.

• Proceedings of the KWS Conference
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• 2005.06a
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• pp.63-65
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• 2005

Because of simple principal and low cost, resistance spot welding has been used a lot for joining the sheet metal in automotive manufacturing process. Welding current, welding time, and force are the most important variables in resistance spot wording. Air guns have hem still used widely. The requirement of synchronizing between robot and weld-gun has become bigger as the field has been automated. The number of servo-gun in the field is trending upward because there're advantages as like to synchronize with robot and to control the stroke path and force by programming on servo-gun system. But no cleared force control method is suggested on servo-gun system until now. In this study, we proved the feedback current of the servo-motor can be used to an excellent force measuring sensor and the force is controlled by the feedback current. And we also detected force lowering during welding cycle on the servo-gun system and solved by compensated force control.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.2
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• pp.94-98
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• 2009

This paper proposes an architecture of a real-time EtherCAT master library called RtEML. The controls EtherCAT slaves under EtherCAT protocol in real-time. It provides a simple programming interface which is useful in developing robot application in C/C++ or C#. To achieve deterministic, hard real-time control in Microsoft Windows environment without additional hardware, INtime is used. Since INtime is designed specifically to take advantage of the powerful capabilities of the x86 processor architecture, the proposed RtEML achieves microseconds of real-time performance.