대한인간공학회지 (Journal of the Ergonomics Society of Korea)
- 제9권2호
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- Pages.21-28
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- 1990
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- 1229-1684(pISSN)
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- 2093-8462(eISSN)
산업용 로보트의 효율적인 작동 데이터 산출방법에 관한 연구
A study on the efficient calculation method of the motion data in the industrial robot
초록
The robot motion control in the industrial robot is generally executed by the teach pendant. But, it requires much teaching time and workload to the operators. This study suggests the use of the robot motion control method by the computed keyboard in the industrial robot instead of the teach pendant. TES/CCS(Teaching Expert System/Cartesian Coordinate System) and TES/WCS(Teaching Expert System/World Coordinate System) that have been proposed to improve the robot motion control are applied for this concept. This study is intended to improve the robot motion control in TES/CCS. Parameter limitation problems in getting the motion data on position and posture of the robot in macro motion control are solved by proposed geometric algorithm. This result demonstrates reduction of the average teaching task time to the teaching position.
키워드