• Journal of the Korean Society for Precision Engineering
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• v.13 no.1
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• pp.131-142
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• 1996

Most industrial robots cannot be off-line programmed to carry out a task accurately, unless their kinematic model is suitably corrected through a calibration procedure. However, normal calibration is an expensive and time-consumming precedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. This paper presents a simple and economic procedure to improve the efficiency of robot calibration especially for arc welding application. To simplify the measurement process, an automotic data measurement algorithm as well as a simple measurement device are developed. Also, a calibration algorithm which can automatically identify the independent model parameters to be estimated is presented. To demonstrated the simplicity and the effectiveness of the procedure, experimental studies and computer simulations are performed and their results are discussed.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.376-379
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• 1993

GoldStar Industrial Systems Co. R & D center successfully developed the inverter for welding under the support of GoldStar Electric Machinery Co. Now, we are currently working on the mechanical part of articulated robot and a high-performance general purpose motion controller. By combining the above three items, we will be able to constitute the complete welding robot system on our own. In this article. the welding robot system currently under developing is introduced. The main focus will be placed on the development of general purpose motion controller with welding control module. Therefore, the architecture of welding robot controller where the general purpose motion controller is combined with the welding controller module will be explained. Here, the software system will be explained with regard to the hardware system.