• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.293-298
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• 1993

In this paper, methods for computing the time-optimal motion of a robotic manipulator are presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem can be reduced to a search for the time-optimal path in the n-dimensional position space. These paths are further optimized with a local path optimization to yield a global optimal solution. Time-optimal motion of a robot with an articulated arm is presented as an example.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.932-935
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• 1996

This paper proposes position estimation and path-tracking of a wheeled-mobile robot(WMR). Odometry and two distance measuring sensors are used to measure distance between guide wall and body and to locate its own position. And extended Kalman filter is introduced to fusion sensors and reduce noise. State feedback controller using the estimated position and path-tracking miles guidance control system. The computer simulation shows that proposed algorithm is well coincide with theoretical approach.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1144-1148
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• 1996

This paper presents WMR modelling and path tracking algorithm using Inertial Navigation System. The error models of gyroscope and accelerometers in INS are derived by Gauss-Newton method which is nonlinear regression model. Then, to test availability of error model, we pursue the fitness diagnosis about probability characteristic for real data and estimated data. Performance of inertial sensor with error model and Kalman filter is pursued by comparing with one without them. The computer simulation shows that position error remarkably decrease when error compensation is applied.

• ICROS
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• v.2 no.3
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• pp.81-91
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• 1996

이 글에서는 Multi-Tasking Real Time O.S인 VxWorks를 기본으로 하여 다중센서 융합(Multi-Sensor Fusion) 능력을 갖는 다중 로봇 협조제어 시스템의 구현에 대하여 살펴보았다. 본 제어 시스템은 두대 로봇의 제어에 필요한 장애물 회피, 조건 동작(Conditional Motion) 혹은 동시동작(Concurrent Motion)과 외부 디바이스와의 동기 Motion(Conveyor Tracking)을 수행할 수 있게 구현하였고, 몇몇 작업을 통해 우수성을 입증하였다. 앞으로 본 연구와 관련한 추후 과제로는 1) 자유도가 6관절형인 수직다관절 매니퓰레이터를 위한 충돌회피 알고리즘의 개발, 2) Two Arm Robot의 상대 위치를 위한 Auto-Calibration 시스템의 개발, 3) CAD Based Trajectory 생성 등이 있다.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.876-881
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• 1987

This paper is concerned with a robust model following control scheme for manipulators which contains uncertain terms. Our method consists of nonlinear compensation and linear compensation. The former ensures the robustness of the plant, the later achieves both the desired model following response and the desired initial error convergence.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.6
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• pp.840-848
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• 1995

A new tri-aural ultrasonic sensor system is suggested to build more accurate world maps for mobile robots with less scanning. In ordinary single sensor systems, the inherent beam-width of sonar transmitter causes ambiguity in sensing direction. Dual sensors may be used to discriminate plane and corner with several scans. However, the proposed method uses triple sensors, and achieves more accuracy with less scanning.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.61.5-61
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• 2001

The laser tracking system(LTS) presents the most promising technique for dynamic position measurement of industrial robots. This system combine the advantage of high accuracy with a contactless measurement technique. It is the measurement system of position in three dimensions using distance data obtained by laser interferometer and real time angle by tracking mirror assembly. After measuring the tracking error of the beam projected on the center of retroreflector in robot end effector, this system tracks the end effector continuously by adjusting tracking mirror angle to minimize this error ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.46.2-46
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• 2001

A method of interactive human interface for motion modification of an articulated object model like a human body, a multiple joints robot, etc. has been developed, and implemented to a human body motion model. In the case of computer software models, the initial data setting for overall motion is rather easy. However, modifying or correcting the initially set motion is rather difficult for keeping consistency. In this research, the requirements shown below have mainly been set as the specifications ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.154.1-154
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• 2001

The paper describes a new type of robot called "artificial liferobot" which is able to learn, make decisions, and behave by itself based on a brain-type computing technique called "artificial brain". The artificial liferobot has self-learning ability from the environment by the interactions between human being and it. The artificial brain makes the artificial liferobot to behave by itself with its intensions like living things as human being. We briefly introduce one attempt of our researches for developing cognitive and behavioral intelligent artificial liferobot in out laboratory. One of our purposes is the development of the artificial liferobot, which plays an Important role in taking care of elderly and infirm people in a rapidly aging society.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.1-147
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• 2001

Future robots, especially service and personal robots, will need much more intelligence, robustness and user-friendliness. The ability to learn contributes to these characteristics and is, therefore, becoming more and more important. Three of the numerous varieties of learning are discussed together with results of real-world experiments with three autonomous robots: (1) the acquisition of map knowledge by a mobile robot, allowing it to navigate in a network of corridors, (2) the acquisition of motion control knowledge by a calibration-free manipulator, allowing it to gain task-related experience and improve its manipulation skills while it is working, and (3) the ability to learn how to perform service tasks ...