• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.383-386
• /
• 1986

In this paper, ultrasonic range finding module for the self-contained robot, INHAE-1, is presented. This system is processed, using Z-80 microprocessor, a much of information on the surrounding condition in real time and is realted a sensor for many side data acqusition with a stepping motor. Also this system can obtain the more correct edge of the obstacle using the standard deviation of the least-square method. In this experiment, it gives more correct information to mobile robot of the blind guidance and improves the orientation of the robot path.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.592-595
• /
• 1986

This paper presents a mobile of robot (for the blind) commanded by written course route on MAP. Its locomotion module is composed of PWM motor driving unit, wheel's rotation measurement unit and display and keyboard unit. In algorithm, "COMMAND" and "NEXT PREDICTED POSITION" for locomotion are computed from the MAP and the next position is compared with the measured one. Also, locomotion method for the convenience of the blind is discussed and experimentally demonstrated. In the experiment, the average speed of robot is 0.4m/sec and the computation error of the map is negligible.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.704-709
• /
• 1990

This study presents the structure and the gate control algorithm of KAMOBOT (KAIST Mobile Robot). The mobile robot has a six-legged, cylindrical configuration, each leg of which is equiped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around it's geometric center. Such maneuverability can be achieved by using only three electric motors.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.73-78
• /
• 1990

As a preliminary study for the application of robots in electrical power company, several case studies in foreign countries, such as a substation patrol robot, a robot for nuclear power facilities, an insulator cleaning robot and a robot system for live-distribution line works, have been carried out for the application of robots. Various application fields, application-related problems, technical difficulties, and the feasibility of applications are studied.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.109-114
• /
• 1987

In this thesis, we work on the curve recognition with real time processing and the Robot tracking method on recognized curve. Image information of segment curve is supplied to computer to run to a Robot so that it is a feedback system. Image coordinate frame to world coordinate transformation represents in this paper and curve matching algorithm subscribes by two method, first transformation matching algorithm, second image coordinate matching algorithm. Also Robot running time to computer image processing time relationships finally includes.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.1-4
• /
• 1987

A cotroller is designed and implemented for a 4-axis SCARA type assembly robot. The controller is developed for velocity control and precise position control of the AC servo motor and a robot language SNUL-87 is designed using c-language , which is oriented towards an intelligent robot system.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.32-35
• /
• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.105-108
• /
• 1987

In this paper, a new algorithm is proposed to obtain important corner and real corner points of the simple objects and the visual robot graphics simulation using the results is studied. This is capable of performing as a debugging tool for task programming of a visual robot. And the robot motion is also simulated on a CRT terminal.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.423-423
• /
• 2000

This paper proposes an effective algorithm for following a wall by an autonomous mobile robot with sonar sensors and infrared sensors in an indoor environment. The proposed method uses deadreckoning to estimate the current position and orientation of a mobile robot. Sonar sensor data are used to estimate shape and position of wall using proposed algorithm. Infrared sensor data are used as assistant when sonar sensor data is uncertain. Simulation results using mobile robot show that the proposed algorithm is proper for the following wall.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.355-355
• /
• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.