|
Experimental Evaluation for Suppressing Residual Vibration of Manipulator |
|
Seong Youb Chung, Han Sol Kang(Korea National University of Transportation, Korea), Hyun Joong Yoon(Catholic University of Daegu, Korea), Myun Joong Hwang(Korea National University of Transportation, Korea) |
| The residual vibration should be suppressed when the robot manipulator is operated at high speed. The residual vibration is generated by the resonance of the robot. In this paper, we propose a method to reduce residual vibration of workpiece moved by robot manipulator by optimizing acceleration / deceleration time calculated from the natural frequency of the workpiece. The experimental results using commercial industrial robot demonstrated that the residual vibration can be reduced by proposed method without any additional control algorithm during the flexible workpiece transfer. |
|
|
A Study of the Reliability Evaluation in Special Purpose Robot |
|
Dongkeun Lee, Jinsun Park(Korea Institute of Industrial Technology, Korea) |
| In this study, repeated load and constant load test of front and leg assembly which are core modules were conducted, to ensure the performance and reliability of the special purpose robot for the application for disaster. A dedicated test bench for the special purpose robot was developed, and reliability was evaluated using the test bench. |
|
|
Design of a 4-Finger End-Effector for paprika harvesting |
|
Sungwoo Cho, Jong Pyo Jun(Hybrid Robotics, Korea), Hie-yong Jeong(Osaka University, Japan), Hyoung Il Son(Chonnam National University, Korea) |
| This study is part of research in the development of robots that can automatically harvest paprika in Protected Horticulture. We designed the mechanism of the end-effector which grasping the paprika and cutting the peduncle, and developed the control device. The end-effector has four fingers to grip, regardless of the size and shape of paprika, position. The end-effector also has a cutter to cut the peduncle of paprika and a blade disinfection system to prevent viruses during cutting. We will try to evaluate the performance through future experiments. |
|
|
Discrete Event Systems based Modeling for Agricultural Multiple UnmannedAerial Vehicles: Automata Theory Approach |
|
Chanyoung Ju, Hyoung Il Son(Chonnam National University, Korea) |
| A discrete event system (DES) is a dynamic system in which the state of a system is changed by the occurrence of an event. This study presents the formal modeling for agricultural multiple unmanned aerial vehicle (UAV) system based on DES theory. To model the multi-UAV system, we model the states of UAVs using a finite state automaton. This approach using automata theory provides a systematic procedure for designing supervisory control theory, which is a control mechanism that can change the dynamic change of the system to a desired state based on discrete event modeling. |
|
|
Realtime monitoring of working position for agricultural spraying drone using IoT technology |
|
Seung-Hwan Yang, Hyunki In, Deok-Keun Kim, Hyun-Sik Son(Korea Institute of Industrial Technology, Korea) |
| The agricultural spraying drones have merits that the spraying can be completed in a short time, safely, and conveniently. In other to apply the spraying drones more efficiently, it is necessary to monitor the operational information in realtime. In this paper, the realtime monitoring of working position for agricultural spraying drone. The smartphone and the LoRa module were used to get the working position based on the GPS and to transmit the data wirelessly. |
|
|
Durability test of mobile robot platform for upland farming |
|
Hyunki In(Korea Institute of Science and Technology, Korea), Seung-Hwan Yang, Hyun-Sik Son, Deok-Keun Kim(Korea Institute of Industrial Technology, Korea) |
| Durability is one of the most important factor for the agricultural machinery because of its tough operating condition. In this paper, the structural durability test of newly developed garlic seeding robot is presented. 4-post road simulator is used to reduce the time required for the test. |
|