Research

Past Research

Snake Robot

We developed a snake robot capable of 3D motion

    • Length : 1800 mm
    • Weight : 2.8 kg
    • DOF : 16
    • Main Controller : ATmega128
    • Sensor : Ultrasonic sensor, Tilt sensor, Touch sensor, Vision

Motion Measuring system for Shoes

To measure the number of steps and spent energy of exercising people, we developed a motion measuring system. The system was developed using acceleration sensors and has communication system in small size for shoes.

Applied technology

    • The display modes on LCD
    • Wireless communication
    • Consumption of calorie measurement and calculation algorithm

Inverted-pendulum

    • 2 Rotary encoder
    • 1 DC servo motor
    • Inverted Pendulum mechanic system, Interface card

Gravity Compensator

We developed a new gravity compensator for the robot manipulator. Joints of all robots are loaded by large torques due to gravity. Joint motors to operate the joint of the robot are loaded by the torque due to gravity. A new gravity compensator to reduce the torque load of robots is developed.


Battle Robot

    • Length : 810 mm
    • Width : 550 mm
    • Height : 300 mm
    • Weight : 30 kg
    • Material : AL6061
    • Battery, DC motor

An adjustable temperature control system for a Pb-free soldering-iron

An adjustable temperature control system for a Pb-free ceramic soldering-iron was developed. PID control with gain scheduling algorithm and feedforward compensator control scheme was applied for the system.

    • Display : LCD (+Back light)
    • Power Consumption : 80 W (Input 220V AC)
    • Soldering Iron Voltage / Wattage : 24V AC / 78 W
    • Temperature Setting Range : 100 ~ 500 ℃

Development of an in-pipe inspection and cleaning robot

A robot was developed for in-pipe cleaning and inspecting circular in-pipes of sea plants, ships and buildings. A pressure generation mechanism was devised to inspect circular in-pipes with different diameters and to move up and down slant or perpendicular slops in-pipes.

    • Weight : 12 ~ 14 kg
    • DC 15V, 90W DC servo motor
    • Main controller : DSP
    • Velocity of the driving in a pipe : 5 m/min
    • Possible distance of the driving : 25 m
    • Possible diameter’s variation : ∅400 ~ 500, ∅600 ~ 750

Active Vibration Control System

First, we have developed a new high-speed active control system using the DSP320C6713 microprocessor for vibration suppression of the smart structures. A peripheral system developed is composed of a data acquisition system, A/D and D/A converters, piezoelectric (PZT) actuator/sensors, and drivers for fast data processing. Also, we have tested the processing time of the peripheral devices and provided the corresponding test results. Since fast data processing is very important in the active vibration control of the structures, we have focused on achieving the fast loop times of the control system.

    • Active control of vibration for various frequceny
    • NASA MFC(Macro  Fiber composite) actuator/sensor
    • Main controller : DSP
    • Composition of High-Voltage amplifier driver
    • High speed A/D and D/A conversion

Motion control System

We developed a new motion control system based on TMS320F2812 DSP and high current FET. It can control DC and BLDC motors. We applied the motion control system the robots was developed in the Lab.

Applied technology

  • Motion control design using TMS320F2812 DSP.
  • DC serve motor position, velocity and current control using PID algorithm and trapezoid velocity profile.
  • 20A max current sensor for motor driver.
  • Communication with CAN bus or serial.

Underwater Endoscope

The underwater endoscope is under studying for inspecting underwater structure and underwater searching.

    • Weight : 10 kg  
    • 20W DC motor
    • Modular actuator
    • Amplified Power
    • No balancing weight
    • 4 DOF
    • Controller : ATmega128
    • Sensor : Tilt sensor

Development underwater robot

SAUV

System Description

  • Weight : 70 kg
  • Power : DC 15V/5V
  • Motor : 90W DC servo motor
  • Controller : DSP
  • Modular actuator

Applied technology

  • Reliable data communication by CAN
  • Uniform motion control by PID control algorithms
  • Real-time control for rolling and pitching by Tilt sensor and yawing by Compass sensor
  • Depth control



KMU-ROV

System Description

  • Weight : 50 kg
  • Power : DC 15V/5V
  • Motor : 90W DC servo motor
  • Controller : DSP
  • Modular actuator

Applied technology

  • Reliable data communication by CAN
  • Uniform motion control by PID control algorithms
  • Real-time control for rolling and pitching by Tilt sensor and yawing by Compass sensor
  • Depth control
  • Underwater shooting by waterproof camera

Manipulator for machine center

We developed a new 6 DOF robot manipulator with a new mechanical structure using a Gravity Compensator(GC). The 6-axis manipulator to handle auto-loading payloads for the machine center and tunning machines. This robot was designed to very light(35kg) but to handle heavy payload(25kg) by adopting the GC to its joints. Also, we constructed a control system. It is under performance test now.

    • Weight : 30 kg  
    • Full length : 645.3 mm
    • 4 stepping motors
    • 6 DOF (Degree of Freedom)
    • No balancing weight
    • Maximum Load : 25 kg
    • AC servo motor (200W, 100W)
    • Sensor : Photo interrupter (Limit and home search)

An automated soldering robot for PCB

We developed a automated soldering robot that can solder and inspect a point on the PCB. We built control board on PC to establish a PC-based integrated control system and developed GUI program to allow user to teach soldering points to robot.

    • Xaxis : 400 mm, Yaxis : 500 mm, Zaxis : 200 mm, Raxis : 360º  
    • PC based control system
    • 4 stepping motors
    • 5V/24V power system
    • Soldering Unit : QK101
    • Repeatability : 0.05 mm
    • Temperature Stability : ± 2 ℃
    • Range of Temperature : 50 ℃ ~ 500 ℃

A punching robot for a luminous board using LED

We developed a new robot system that generates pinholes expressing texts or images pre-designed by a developed computer simulator on a plastic plate. The stable rotation speed of the punching axis was measured at a maximum of 1200RPM T and the depth precision of the holes on the plate were less than 0.027mm.

    • 4 DOF & 4 Puncher head  
    • PC based control system
    • Motors : 1 AC servo motor, 3 stepping moters
    • Power : 5V/12V power supply
    • Development of GUI program using Visual C++ 6.0

KUBIR 4

KUBIR4는 이전 KUBIR들에서 적용한 4절 링크 구조가 아닌 직결 형태의 구조로 제작한 이족 보행 로봇이다. 여기에 실험실에서 고안한 중력으로 인한 외력을 줄여주는 중력보상기를 KUBIR4의 각 관절에 적용하여 관절에 걸리는 부하를 감쇠해 줌으로써 고중량의 관절 구동이 가능한 형태이다. 현재 중력보상기를 적용한 로봇의 성능 실험 및 연구가 진행 중이다.

    • Height : 102 cm  
    • Total DOF : 13 DOF
    • Main Controller :  Computer, DSP
    • Sensors : Encoder, Tilt sensor, Magnetic position sensor
    • Weight : 55 kg (payload : 30 kg)
    • Motion Controller : DSP
    • Actuator : DC motor(150W)
    • Communication : RS232, CAN

KUBIR 3

KUBIR3 which is an updated human-sized 28 DOF humanoid robot driven by the closed-chain type of joint actuator was developed. Each leg of the robot is composed of six joints: three joints of them are at the hip, on joint at the knee, and two joints at the ankle. Also, the robot has six joints for each arm, one balancing joint, and three joints for the head with two cameras, The weight of the robot is 72kg and the height is 170cm. The pitching joint actuators for the arms and legs of the robot are designed based on the four-bar-link mechanism driven by the ball screw. The leg of the robot was designed to support 95kg weight including 20kg payload. For this the robot arm was designed very light to be 8.5kg but to handle 10kg payload. The main controller was developed using the ARM processor and a distributed controller for leg joints was developed using the TMS320c2407 processor. Also, a communication system between the main controller and joint controllers was setup using the CAN system.

    • Height : 170 cm  
    • Total DOF : 27 DOF
    • Main Controller :  Computer, DSP
    • Sensors : Encoder, Tilt sensor, Magnetic position sensor
    • Weight : 72 kg
    • Motion Controller : DSP
    • Actuator : DC motor(150W)
    • Communication : RS232, CAN

KUBIR 2

KUBIR2는 KUBIR1의 단점을 보완한 로봇이다. 4절 링크의 복잡한 구조를 단순화하였으며 관절 구동 각도 변위를 보다 크게 개선하였다. 이는 구조적으로 단순화되어 조립 시간을 단축시키고 관절 구동 변위의 확대로 보다 자연스러운 보행과 다양한 동작을 할 수 있다. 또한 팔 부분을 4절 링크 구조로 설계하여 고중량의 부하를 지지할 수 있으며 보행도 가능하다. KUBIR2의 중량은 75kg으로 15kg의 작업물을 들고 걷는 실험에서 세계 최초로 성공하였다.

    • Height : 166 cm  
    • Total DOF : 29 DOF
    • Main Controller : Embedded Computer
    • Sensors : Encoder, Tilt sensor, FSR, CCD camera
    • Weight : 75 kg
    • Motion Controller : DSP
    • Actuator : DC motor(150W, 60W)
    • Communication : RS232, CAN

KUBIR 1

KUBIR1은 새로운 4절 링크 관절 구동기를 적용하여 제작한 2족 보행 로봇이다.         4절 링크 구조는 고강성의 높은 기어비를 갖는 볼나사를 이용하여 직선 운돌을 회전운동으로 변환하는 사다리꼴 형태로 고강성 및 고토크를 갖는 구조이다. 또한 KUBIR는 4절 링크 관절 구동기를 이용한 최초의 2족 보행 로봇으로 4절 링크 구조의 성능 및 가능성을 보여준 로봇이다. 각 관절 구동기의 모터는 90(W) 급으로 92kg 중량의 로봇을 걸을 수 있게 하였다.

    • Height : 173 cm  
    • Total DOF : 25 DOF
    • Main Controller : Computer
    • Sensors : Limits sensor, Encoder, Supersonic-waves Sensors
    • Weight : 92 kg
    • Actuator : DC motor(150W)
    • Motion Controller : ARM, DSP
    • Communication : RS232, CAN
 

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