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소형 무인주행로봇에 탑재되는 EOD 매니퓰레이터 설계에 대한 연구
고두열,이승호,이준성,황기상,김수현,Koh, Doo-Yeol,Lee, Seung-Ho,Rhee, Joon-Seong,Hwang, Ki-Sang,Kim, Soo-Hyun 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.5
In this paper, mechanism design of the explosive ordnance disposal(EOD) manipulator for small unmanned ground vehicle(SUGV) is presented from the conceptual to detailed design. EOD manipulator has been widely developed in the world due to the growing threat of the improvised explosive devices at war. It has distinctive characteristics, such as small size and high loading performance, compared to the industrial manipulator which is fixed on the floor. Design of new EOD manipulator must take into account various functional requirements and constraints simultaneously. We focused on developing the EOD manipulator that has suitable size for the SUGV and maximum 15kg payload capacity. Design approach taken in this paper is based on axiomatic design procedure and comparison among many possible candidates of each joint structure to obtain appropriate entire structure of EOD manipulator.
전복 방지를 위한 소형 무인주행로봇의 자세 안정화 알고리즘
고두열,김영국,이상훈,지태영,김경수,김수현,Koh, Doo-Yeol,Kim, Young-Kook,Lee, Sang-Hoon,Jee, Tae-Young,Kim, Kyung-Soo,Kim, Soo-Hyun 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.6
Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.
이승호,고두열,정원석,김경수,김수현,Lee, Seung-Ho,Koh, Doo-Yeol,Jung, Won-Suk,Kim, Kyoung-Soo,Kim, Soo-Hyun 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.5
In this paper, we propose the direction of development for EOD robot. We collected and analyzed the opinions of EOD teams. In order to verify the opinions, we conducted QFD(Quality Function Deployment) analysis. Based on the QFD analysis, we work out the priority of EOD robot development. And we establish the goal of development(target system) and suggest the development direction of EOD robot on each issue.
김정중(Jeong-Jung Kim),고두열(Doo-Yeol Koh),박진성(Jinseong Park),김창현(Chang-Hyun Kim) 대한기계학회 2020 大韓機械學會論文集A Vol.44 No.2
산업현장에서 노동인력 부족, 생산 환경의 변화, 생산성 향상 요구에 대응하기 위해 산업용 로봇을 활용한 생산 자동화와 인공지능/빅데이터/IoT 기술을 접목한 시스템 고도화가 필요하다. 특히 기존의 자동화를 위해 설계된 환경에서 벗어나 사람과 함께 활동하는 비정형화된 공간 내에서 사람과 협력하여 작업할 수 있는 시스템에 대한 요구가 커지고 있다. 본 논문에서는 비정형 환경에서 다양한 공정 대응을 위한 이동식 및 다기능 자율 작업 로봇에 대해 다룬다. 가반하중이나 이동 형태에 따라 변형이 가능한 모듈형 이동식 매니퓰레이터에 대한 설계 내용, 인공지능 기반 픽앤플레이스(pick-and-place) 및 장애물 회피, 힘제어 기반 작업, 주행 안정성 확인에 대한 내용을 포함한다. To cope with a decrease in the labor force, a change in the production environment, and demand for productivity improvement in the industrial field, the operating system needs to be upgraded by combining artificial intelligence/big data/IoT technology and production automation using industrial robots. There is a growing demand for a system capable of working with people in non-structured environments. In this paper, we introduce a multifunctional autonomous mobile robot that can handle various tasks in non-structured environments. It includes the design of a modular mobile manipulator that can be reconfigured according to the payload or the type of movement, AI-based pickand-place, obstacle avoidance, force control-based manipulation, and driving stability check method.
모델 예측 제어를 이용한 높은 질량 중심을 가지는 전방향 이동 로봇의 진동 저감 제어
박진성(Jinseong Park),고두열(Doo-Yeol Koh),김정중(Jeong-Jung Kim) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.10
Autonomous mobile robots equipped with long-stroke lift modules have been developed to assist human workers to transport high positioned heavy objects in the field of logistics. A large amount of rolling vibration during acceleration or deceleration when driving is inevitable for a robot with a high center of mass and low stiffness mechanism. In this study, the simultaneous control of reference velocity tracking and vibration reduction, only using driving motors, is proposed based on a suspended cart-pole inverted pendulum model that combines velocity and vertical vibration motion. A model predictive controller was adopted to account for constraints that prevented the object from slipping when placed atop the lift by saturating the magnitude of the rolling angular acceleration. The simulation results verified that the residual vibration time and magnitude significantly decreased with the proposed controller compared to the controller accounting for driving velocity alone. Additionally, object slippage prevention was ensured with taking minimal loss of the reference velocity tracking performance.
윤병호(Byungho Yoon),정태일(Taeil Chung),고두열(Doo-Yeol Koh),김수현(Soohyun Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.3
Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede’"s legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot’"s height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot’"s height and 58 % of the robot’"s length.