• Title, Summary, Keyword: Robot structure

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Design and Implementation of a Mobile Robot with a Variable Structure for Tip-over Prevention (전복방지를 위한 가변 구조 이동 로봇의 설계와 구현)

  • Lee, Sungmin;Park, Jungkil;Park, Jaebyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.4
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    • pp.356-360
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    • 2015
  • In this paper, we design and implement a mobile robot with variable structure for tip-over prevention. The mobile robot is designed for the purpose of stable drive and work in outdoor terrain. The outdoor terrain is rough and uneven. In this terrain, the tip-over of the mobile robot can occur while driving and working. Therefore, the structure of the mobile robot must be designed in consideration of stable drive and work. The proposed structure is defined as an X-shape for overall balance of the mobile robot. The shape is designed by using a multi-level structure for reducing the size of the robot. To verify the effectiveness of the proposed design, we analyze the tip-over characteristics according to the height of gravitational center and the extension length of the robot. Finally, we develop a prototype of the mobile robot with variable structure, taking the results of the tip-over analysis into consideration.

Multi-Mobile Robot System with Fuzzy Rule based Structure in Collision avoidance (충돌회피환경에서의 퍼지 규칙 기반 멀티 모바일 로봇 시스템)

  • Kim, Dong-W.;Yi, Chong-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.233-238
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    • 2010
  • This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

Intelligent Hybrid Modular Architecture for Multi Agent System

  • Lee, Dong-Hun;Baek, Seung-Min;Kuc, Tae-Yong;Chung, Chae-Wook
    • 제어로봇시스템학회:학술대회논문집
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    • pp.896-902
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    • 2004
  • The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. To make real time control possible by making effective use of recognized information in this dynamic environment, suitable distribution of tasks should be made in consideration of function and role of each performing robots. In this paper, IHMA (Intelligent Hybrid Modular Architecture) of Intelligent combined control architecture which utilizes the merits of deliberative and reactive controllers will be suggested and its efficiency will be evaluated through the adaptation of control architecture to representative multi-robot system.

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Development of a Graphic Simulation Modeller for Robot Welding Process Planning (로보트 용접 공정 계획을 위한 Graphic Simulation Modeller의 개발)

  • Choe, Byeong-Gyu;Jeong, Jae-Yun;Kim, Dong-Won
    • Journal of Korean Institute of Industrial Engineers
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    • v.11 no.1
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    • pp.21-32
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    • 1985
  • Presented in this paper is a procedure of developing graphical simulation software for planning robot welding processes. Welding is by far the highest application area for industrial robots, and it has been in great need of such a simulator in designing robot work cells, in justifying the economics of robot welding and in planning robotized welding operations. The model of a robot welding cell consists of four components: They are an welding structure which is a collection of plates to be welded, a positioner to hold the welding structure, a robot with a weld torch, and a set of welding lines (in case of arc welding). Welding structure is modeled by using the reference plane concept and is represented as boundary file which is widely used in solid modeling. Robot itself is modeled as a kinematic linkage system. Also included in the model are such technical constraints as weaving patterns and inclination allowances for each weld joint type. An interactive means is provided to input the welding structure and welding lines on a graphics terminal. Upon completion of input, the program displays the welding structure and welding lines and calculates the center of mass which is used in determining positioner configurations. For a given positioner and robot configuration, the welding line segments that can be covered by the robot are identified, enabling to calculate the robot weld ratio and cycle time. The program is written in FORTRAN for a VAX computer with a Tektronix 4114 graphic terminal.

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Design and Experimental Evaluation of Action Level in a Hybrid Control Structure for Vision Based Soccer Robot (비젼기반 축구로봇시스템을 위한 복합제어구조에서 행위계층설계 및 시험적 평가)

  • Shim, Hyun-Sik;Sung, Yoon-Gyeoung;Kim, Jong-Hwan
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.2
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    • pp.197-206
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    • 2000
  • A hybrid control structure for vision-based soccer robot system is considered. The structure is om-posed of four levels such as the role action behavior and execution levels. The control structure which is a combination of hierarchical and behavioral structures can efficiently meet the behavior and design specifications of a soccer robot system Among the four levels only the design of the action level is proposed in the paper and is experimentally evaluated. Design hypothesis and evaluation method are presented to improve the reliability and accomplishment of the robot system. Due to the essential element of soccer robot system design a systematic design procedure of the action level is proposed With the proposed structure and algorithm of the action level the excellent result was shown at the MiroSot'98 held in France.

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The wing structure modeling of the bioinspired aerial robot (생체모방 공중로봇의 날개 구조 모델링)

  • Choi, Youn-Ho;Cho, Nae-Soo;Joung, Jung-Eun;Kwon, Woo-Hyen;Lee, Dong-Ha
    • 한국태양에너지학회:학술대회논문집
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    • pp.404-405
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    • 2012
  • The research of the biological mimics robot which utilizes the operation of the organism and which it applies to the robot is progressed on the ground, aerial, and underwater robot sector. In the field of flying robot, the research for implementing the wing movement structure of the bird and insect is progressed. The joint structure for the wing movement of the bird is implemented. The operation of the wing is simulated. For this purpose, by using the Matlab/Simulink, the joint structure of the wing is modelled. The joint movement of the wing is tested through the simulation.

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Development of Omni-Directional Mobile Robot System with Rocker-Bogie Link Structure (로커-보기 링크 구조를 갖는 전방향 이동로봇 시스템개발)

  • Gang Taig-Gi;Yi Soo-Yeong
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.7
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    • pp.679-685
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    • 2006
  • In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.

Kinematic Analysis and Motion Implementation of a Humanoid Robot with a Serial and Parallel Structure (직렬.병렬 혼합구조의 휴머노이드 상체로봇의 기구학 해석 및 움직임 구현)

  • Bae, Yeong-Geol;Jung, Seul
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.9
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    • pp.952-958
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    • 2009
  • This article presents a combined structure of serial and parallel mechanisms for a humanoid robot. The 3 DOF parallel structure is designed and added to the waist of the humanoid robot arm to give flexible bending and rotating motions. Forward and inverse kinematics of a serial and parallel robot have been analyzed to generate motions. Simulation studies of verifying kinematics solutions of the parallel robot have been done. Experimental studies of mimicking shake-hands motion have been conducted to show the feasibility and usability of the combined structure.

Walking Robot With 4 Legs

  • Jang, Sung-Hwan;Lee, Ja-Yong;Kang, Hoon
    • 제어로봇시스템학회:학술대회논문집
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    • pp.123.4-123
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    • 2001
  • This paper explains the walking robot with 4 legs. One leg is composed of 4 dc server motors and have 4 d.o.f. This walking robot has simple structure using "the principle of lever". The structure of robot models the 4 legs´ animal such as dog. The walking patterns is various and complex. With inspecting the walking dogs, the walking motions implemented by patterns. The center of mass is important of this type robot. The significant issue of walking is weight. As the weight is lighter, so the robot well walks. The method of walking is patterns.

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Axiomatic Design of Composite Double Arm Type Robot Hands and Wrists for Handling Large Glass Panel Displays (공리 설계를 적용한 대형 평판 디스플레이용 더블암형 복합재료 로봇 핸드 및 리스트)

  • 이창섭;이대길;최진경
    • Proceedings of the Korean Society For Composite Materials Conference
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    • pp.241-244
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    • 2002
  • Recently, the size of glass panel is increased to $1250 mm{\times}1100 mm{\times}0.7 mm$, whose mass is 2.65 kg, which requires much stiffer robot structure. In addition to the high stiffness, the robot hands and wrists for glass panel handling should have miller surface finishing of its outer surface to prevent particles and dusts from adhering on the surface. The maximum height of the robot structure should not be larger than 1500 mm because other automated guided vehicles (AGV) and transfer equipments have been designed within this size limit. The difference of maximum deflections of the four ends of the hands before and after loading the glass panel should be less than 2.0 mm. In this work, the robot hands and wrists for handling large glass panel displays were designed based on the axiomatic design using the finite element method along with optimization routine.

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