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주백석(Baeksuk Chu),성영휘(Young Whee Sung) 한국생산제조학회 2014 한국생산제조학회지 Vol.23 No.4
Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omnidirectional mobile robot based on Mecanum wheels was developed to achieve omni?directionality. A CompactRIO embedded real?time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni?directional mobile robot.
주백석(Baeksuk Chu),조강익(Gangik Cho),성영휘(Young Whee Sung) 한국생산제조학회 2015 한국생산제조학회지 Vol.24 No.2
In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.
주백석(Baeksuk Chu),성영휘(Young Whee Sung) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.11
In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.
주백석(Baeksuk Chu),홍대희(Daehie Hong) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
This paper introduces a new trial to apply a robotic system to construction automation. For the purpose, a robotic bolting system is developed to perform beam assembly work of a building. The suggested robot system is composed of a mechanism paπ and a control part. In the mechanism part, a bolting end-effector has the function of assembling steel beams with two types of bolting tools, and a robotic manipulator translates the bolting end-effector to target bolting positions. The control part is based on the visual servoing technology which recognizes the bolting positions with a CCD camera and image processing and sends the position information to the motion controller. The developed robotic bolting system was evaluated with real experiments and showed successful results for beam assembly.
수동 동역학 보행로봇을 위한 강화학습 기반의 제어기 설계
주백석(Baeksuk Chu),홍대희(Daehie Hong),박주영(Jooyoung Park) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
Passive dynamic walker is a kind of bipedal walking robots that are able to walk stably down a small decline without using any actuators. The purpose of this research is to design a controller in order to build actuated robots capable of walking on flat terrain based on passive dynamic walking. To achieve the objective, the control algorithm used in this research is reinforcement learning (RL) method. RL is a goal-directed learning of a mapping from situations to actions. The goal of RL is to maximize a reward which is an evaluative feedback from the environment. Constructing the reward of the actuated passive dynamic walker, the control objective, which is stable walking on level ground, is included. In this research, RL algorithm based on actor-critic architecture and gradient-following algorithm is applied. The control algorithm is verified with computer simulations. It is confirmed that with the suggested controller, the control objective is sufficiently achieved.
전방향 이동 메커니즘을 적용한 콘크리트 폴리싱 로봇의 성능평가
조강익(Gangik Cho),주백석(Baeksuk Chu) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.2
In the construction industry, concrete polishing is used to grind and rub the surface of concrete grounds with polishing machines to increase the strength of the concrete after deposition. Polishing is performed manually in spite of the generation of dust and the requirement of frequent replacements of the polishing pad. The concrete polishing robot developed in this research is a novel polishing automation system for preventing the workers from being exposed to poor working environments. This robot is able to change multiple polishing tools automatically; however, the workers can conveniently replace the worn-out polishing pads with new ones. The mobile platform of the polishing robot employs omnidirectional wheels to enable a flexible motion even in small and complicated workspaces. To evaluate the performance of the developed concrete polishing robot, extensive experiments including square trajectory tracking, automatic tool changing, actual polishing, and path generation simulation were performed.