Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.
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Transcript of Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.
![Page 1: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/1.jpg)
Robot
Sung-mok SeoOk-nam LeeYoon-ho NaSu-min Park
![Page 2: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/2.jpg)
Contents
• Manufacture part•Modeling•Moving mechanism
• Control part• PC part
•MSRS workshop
![Page 3: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/3.jpg)
Robot feature
• Body size : 25cm by 25cm• Weight : Max 15kg• Speed : 0.15 m/s• No. of motors for legs : At least 12
![Page 4: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/4.jpg)
Modeling of a leg
Motor for rotating
Shoulder motor
Knee motor
Foot
![Page 5: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/5.jpg)
Change the direction
Upside view
![Page 6: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/6.jpg)
Moving mechanismChange of center of
gravity
![Page 7: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/7.jpg)
Moving mechanism
Change of center of gravity
![Page 8: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/8.jpg)
Moving mechanism
Change of center of gravity
![Page 9: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/9.jpg)
Moving mechanism
Change of center of gravity
![Page 10: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/10.jpg)
Moving mechanism
Change of center of gravity
![Page 11: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/11.jpg)
Moving mechanism
Change of center of gravity
![Page 12: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/12.jpg)
Moving mechanism
![Page 13: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/13.jpg)
Moving mechanism
![Page 14: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/14.jpg)
Moving mechanism
![Page 15: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/15.jpg)
Moving mechanism
![Page 16: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/16.jpg)
Moving mechanism
![Page 17: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/17.jpg)
Moving mechanism
![Page 18: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/18.jpg)
Modeling for a leg(2)
![Page 19: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/19.jpg)
Control Part(1)
• We purchased JTAG & DSP (TMS320LF2407A)
![Page 20: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/20.jpg)
Control Part(2)
• Code Composer Studio & JTAG
![Page 21: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/21.jpg)
Control Part(3)
![Page 22: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/22.jpg)
PC part
• Robot software technical workshop (3/29, 4/5)- M.S.R.S
– Simulation of a robot–MazeExplorer– Vision process– Pattern recognition
![Page 23: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/23.jpg)
M.S.R.S
Maze forming
Simulation
![Page 24: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/24.jpg)
M.S.R.S
MSRS programming
![Page 25: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/25.jpg)
M.S.R.S
Pattern recognition
![Page 26: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/26.jpg)
M.S.R.S
Vision process
![Page 27: Robot Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park.](https://reader035.fdocuments.in/reader035/viewer/2022062301/5697bfde1a28abf838cb1f51/html5/thumbnails/27.jpg)
Thank you