제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

삼성 파라 스카라 로봇시스템

SAMSUNG FARA SCARA robot system

  • 김성권 (삼성전자 가전부문 생산기술본부) ;
  • 신기범 (삼성전자 가전부문 생산기술본부) ;
  • 김동일 (삼성전자 가전부문 생산기술본부) ;
  • 전재욱 (삼성전자 가전부문 생산기술본부) ;
  • 김영철 (삼성전자 가전부문 생산기술본부) ;
  • 오인환 (삼성전자 가전부문 생산기술본부) ;
  • 황찬영 (삼성전자 가전부문 생산기술본부) ;
  • 임상권 (삼성전자 가전부문 생산기술본부) ;
  • 김호규 (삼성전자 가전부문 생산기술본부)
  • 발행 : 1991.10.01
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초록

SAMSUNG Electronics has developed a SCAR.A robot system, SM3, which is applicable to several assembly, inspection, and adjustment tasks. This robot system drives by AC servo motors has attained a .theta.1 and .theta.2 axis maximum composite speed of 5.4 m/sec, a repeatability of .+-.05 mm, and a cycle time of 1.2 sea. The robot controller based on three 8086 and one 8087 processors consists of the main controller, the joint position controller, and the motor controller. The robot controller has plentiful self-diagnosis and control capabilities, and can be interfaced to other external device. The robot language FARAL Is designed such that every task is easily programmed. In this paper, the main features of the body, controller, and FARAL of SM3 will be described. In particular, the control method designed for a stable and fast robot motion will be explained. Finally, the future development will be addressed.

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