• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.376-379
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• 1993

GoldStar Industrial Systems Co. R & D center successfully developed the inverter for welding under the support of GoldStar Electric Machinery Co. Now, we are currently working on the mechanical part of articulated robot and a high-performance general purpose motion controller. By combining the above three items, we will be able to constitute the complete welding robot system on our own. In this article. the welding robot system currently under developing is introduced. The main focus will be placed on the development of general purpose motion controller with welding control module. Therefore, the architecture of welding robot controller where the general purpose motion controller is combined with the welding controller module will be explained. Here, the software system will be explained with regard to the hardware system.

• Journal of Welding and Joining
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• v.27 no.6
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• pp.55-61
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• 2009

This study aims for determination of cutting work envelope of an articular robot for H-beam cutting. The robot has its own work envelope. The cutting of piece with groove requires the specific position of the torch which contracts the work envelope. This study suggested the new method to determine the cutting work envelope for this case. The method simplified the problem by use of the combination of inverse kinematics and forward kinematics. The method was used for cutting the H-beam with groove. The cutting work envelope was determined easily. The result was verified by 3D simulation system which implements the articular robot with 6 axes and the H-beam in the virtual shop.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.3
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• pp.245-249
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• 2012

In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.1
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• pp.33-43
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• 2018

In this paper, we describe an sound tracking mobile robot suitable for areas where GPS is not available. Sound sensors are attached to four sides of the robot in order to locate the person in a danger, and the robot is supposed to move to the yelling person. The traveling distance of the mobile robot is calculated by the encoder attached to the wheel of the mobile robot. The moving direction of the mobile robot is measured by a gyro sensor on the robot. When the person in danger pushes a button of the mobile robot, the mobile robot transmits the trajectory data to a designated server.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.44.5-44
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• 2001

This paper proposes the algorithm which a mobile robot tracks the object captured by ultrasonic sensors of the robot and automatically generates a path according to the object In the proposed algorithm, a robot detects movements of the object as using ultrasonic sensors and then the robot follows the moving object. This algorithm simplifies robot path planning. The eight ultrasonic sensors on the robot capture distances between the robot and objects. The robot detects the movements of the object by using the changes of the distances captured by ultrasonic sensors. The target position of the robot is determined as the position of the detected moving object. The robot follows the object according to this movement strategy. The effectiveness of the proposed algorithm is verified through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1927-1932
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• 2003

In a previous study, the authors have proposed the Cooperative Collision Avoidance (CCA) method which enables mobile robots to cooperatively avoid collisions, by extending the concept of the Velocity Obstacle to multiple robot systems. The method introduced an evaluation function considering an operation objective so that each robot can choose the velocity which optimizes the function. As the evaluation function could be of an arbitrary type, this method is applicable to a wide variety of tasks. However, it complicates the optimization of the function especially in real-time. In addition, construction of the evaluation function requires an operation objective of the other robot which is very hard to obtain without communication. In this paper, the CCA method is improved considering such problems for implementation. To decrease computational costs, the previous method is simplified by introducing two essential assumptions. Then, by treating the desired direction of locomotion for each robot as the operation objective, an operation objective estimator which estimates the desired direction of the other robot is introduced. The only measurement required is the other robot's relative position, since the other information can be obtained through the estimation. Hence, communicational devices that are necessary for most other cooperative methods are not required. Moreover, mobile robots employing the method can avoid collisions with uncooperative robots or moving obstacles as well as with cooperative robots. Consequently, this improved method can be applied to general dynamic environments consisting of various mobile robots.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.6
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• pp.720-725
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• 2004

Robot systems have applied to manufacturing or industrial field for reducing the need for human presence in dangerous and/or repetitive tasks. However, robot applications are transformed from industrial field to human life in recent tendency Nowadays, final goal of robot is to make a intelligent robot that can understand what human say and learn by itself and have internal emotion. For example Home service robots are able to provice functions such as security, housework, entertainment, education and secretary To provide various functions, home robots need to recognize human`s requirement and environment, and it is indispensable to use artificial intelligence technology for implementation of home robots. In this paper, implemented robot system takes data from several sensors and fuses the data to recognize environment information. Also, it can select a proper behavior for environment using soft computing method. Each behavior is composed with intuitive motion and sound in order to let human realize robot behavior well.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.298-303
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• 2013

The robot has been widely applied to all parts for the improvement of the life quality of human beings. It is expected that the parts industry for robots is rapidly growing to one of the majority of the future robot industry. The electronic components of robots are connected to the central processing unit and an organic part of a robot system. The central processing unit must be controlled to operate more efficiently by configuring some control systems of the robot. In this paper, we propose a new platform model that centralizes several parts of a robot through the CAN based communication system and simplifies their connection structure.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.712-717
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• 2007

Using home network system including home server, home service robot, a variety of device, it is generally known that application of Multi Agent System for performing variously distributed process that can be occur in home environment, is efficient method. In this system, it is intelligent service robot that a key of human interface and physical service offer Therefore, using application of established multi agent system, we can defined Multi Agent Robot System. In 'open' home environment, between all agent data interaction and cooperation are needed for Multi Agent System offer to user that more efficient service. For this, we focus our attention on define as agent that can autonomic drive and offer to user that physical service robots and, design, suggest the simulator can display that between robot agents communication or between other agents, like home server, and robot agents communication information to user interface.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.7
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• pp.625-633
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• 2004

In this paper, position control of a car-like mobile robot using a neural network is presented. positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as a reference, the robot posture is corrected by a cascaded controller. To improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The neural network functions as a compensator to minimize the positional errors in on-line fashion. A car-like mobile robot is built as a test-bed and experimental studies of several controllers are conducted and compared. Experimental results show that the best position control performance can be achieved by a cascaded controller with a neural network.