Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 13 Issue 3
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- Pages.34-41
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- 1996
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Development of position correction system of door mounting robot based on point measure: Part I-Algorithm
특정점 측정에 근거한 도어 장착 로봇의 위치 보정 시스템 개발: Part I-보정 알고리즘
- Kim, Mi Kyung ;
- Kang, Hee Jun ;
- Kim, Sang Myung
- 김미경 (울산 대학교 컴퓨터 공학과 대학원) ;
- 강희준 (울산 대학교 제어 계측 공학과) ;
- 김상명 (현대 자동차 생산 기술 개발부)
- Published : 1996.03.01
Abstract
This work deals with finding a suitable position correction algorithm of industrial robot based on measuring particular points, which calculates two dimensional correction quantities and the must allow visually acceptable door-chassis assembly task. Three optimizing algorithms corresponding to three differ- ent error based performance indices are compared and selected to the best one, in terms of the predefined total uniformity, line uniformity and computational time. The selected algorithm(Total Error Minimization) is implemented for a simple door-chassis model to show its effectiveness.
Keywords