• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.4
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• pp.27-40
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• 1996

This paper proposed a kinematic modeling methodlogy and feedback control system based on kinematics for 2 degrees of freedom of 4-wheeled mobile robot. We assigned coordinate systems to specify the transformation matirx and write the kinematic equation of motion. We derived the actuated inverse and sensed forwared solution for the calculation of actual robot orientation and the desired robot orientation. It is the most significant error and has the largest impact on the motion accuracy. To calculate the WMR position in real time, we introduced the dead-reckoning algorithm and composed two feedback control system that is based on kinematics. Through the simulation result, we compare with the ffedback control system for position control.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.2
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• pp.189-200
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• 2015

This paper gives an overview on the some potential applications and key technologies of biomimetic underwater robot for naval operations. Unlike most manned underwater naval systems, biomimetic underwater robots can be especially useful in near-land or harbour areas due to their ability to operate in shallow water effectively. Biomimetic underwater robot provide advantages in reaching locations that would be difficult or too dangerous for a manned vehicle to reach, as well as providing a level of autonomy that can remove the requirement for dedicated human operator support. Using multiple or schools of underwater robots would provide increased flexibility for navigation, communication and surveillance ability. And it alleviate some of the restrictions associated with speed and endurance design constraints.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.435-440
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• 2007

Fish-mimetic robots or fish-mimetic propulsors have been developed or under construction. A mechanical system cannot have the same functions as bio-organic systems. Thus, the hydrodynamic characteristics of fish locomotion should be well understood in order to develop and control a feasible intelligent fish-mimetic robot with its optimal motion pattern known. In this paper, a mackerel-mimetic robot fish is fabricated in order to understand the hydrodynamic characteristics of fish locomotion. A simplified unsteady flow theory is also applied to the hydrodynamic analysis of the motion of the anterior part of the robotic fish. The normal and axial forces of the fish are measured by changing the amplitude and frequencies of fanning motion. It is found that the present theoretical results agree with the measured data.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1272-1278
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• 2011

Mechanisms of the robot system should be developed according to the task. In this study, we propose improving adaptability of the robot mechanism with the modularized joint mechanism. Adaptability is the measure of the system ability to cope with change or uncertainty. Modular type joint has been widely used in development of various robots including reconfigurable robots. To build robotic systems more flexibly and quickly with low costs of manufacturing and maintenance, we have designed a modular type joint with one degree of freedom for general purpose. This module is designed to be compact, light-weight and self-controlled. In this design, we consider the kinematics and dynamics properties of the modular type joint.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.6
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• pp.156-163
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• 2008

Future Combat System(FCS), such as unmanned systems that reduce the danger faced by soldiers in the field, are likely to be studied and developed. Soldiers when finding and disposing of mines risk injury and death. Several methods of safe mine retrieval are investigated. In this paper, a mine removal method, which uses a remote controlled robot to get rid of mines using a 4 channel architecture teleoperation method is used. The robot, when in contact with soil and mines, is controlled by a remote control. The feasibility of using teleoperation controlled system to remove mines is demonstrated in this paper. The Matlab-Simulink was used as a tool to simulate mine removal with robots. The force and position of the robot{slave system of 4 channel architecture) and controller(master system of 4 channel architecture) are analyzed when users handle the controller with sinusoidal force.

• Proceedings of the KIEE Conference
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• 1987.07b
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• pp.1256-1259
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• 1987

This paper gives a new SRF (Sonic Range Finder) Array formation on the mobile robot. This SRF Array formation obtaine the mobile robot's environmental informations wider and faster than the other systems and detects the obstacles in the robot's path. It is processed and controlled by 8031, on-chip micro-computer. SRF Array sensors are drived by the LM1812 transceiver and selected by the 8-channel channel multiplexer. In this paper, it detects the obstacles in wider range and gives them to the MAIN to design the shortest modify path.

• Journal of Welding and Joining
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• v.14 no.2
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• pp.96-105
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• 1996

Robot systems are widely utilized in the shipbuilding industry to enhance the productivity by automating the welding process. In order to increase productivity, it is necessary to reduce the time used for robot teaching. In this work, the automatic teaching system is developed for the subassembly process in the shipbuilding industry. A alser/vision sensor is designed to detect the weld seam and the image of the fillet joint is processed using the arm method. Positions of weld seams defined in the CAD database are transformed into the robot coordinate, and the dynamic programming technique is applied to find the sub-optimum weld path. Experiments are carried out to verify the system performance. The results show that the proposed automatic teaching system performs successfully and can be applied to the robot system in the subassembly process.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1042-1046
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• 1993

This paper describes a control scheme for a robot manipulator system which uses visual information to position and orientate the end-effector. In this scheme, the position and orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control scheme directly integrates visual data into the servoing process without subdividing the process into determination of the position and orientation of the workpiece and inverse kinematics calculation. A neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can be control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robot manipulator with six degrees of freedom will be done. The validity and the effectiveness of the proposed control scheme will be verified by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.445-449
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• 1993

The role of a robot becomes more important as factory automation is widely spread in the manufacturing industry. An off-line program system has been required for uninterruption of production lines because it can save cost and time spent in adjusting a robot to a new workcell. The objective of this paper is to develop our own OLP system for a SCARA type FARA robot with four axes. Three-dimensional graphic results are presented for the case when the robot is simulated using the computed torque method with a PD controller and the continuous path trajectory planning.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.428-433
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• 1994

This investigates the feasibility of applying fuzzy ogic controllers to the motion tracking control of a direct drive robot manipulator to deal with highly nonlinear and time-varying dynamics associated with robot motion. A fuzzy logic controller with narrow shape of membership functions near zero and wide shape far away zero is analyzed. Simulation and experimental studies have been conducted for a 2 degree of freedom direct drive SCARA robot to evaluate control performances, Fuzzy logic controllers have shown control performances that are often better, or at least, as good as those of conventional PID controllers. Furthermore, the control performance of fuzzy logic controllers can be improved by selecting membership functions of narrow shapes near zero and wide shapes far away zero.