• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.52-55
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• 1997

This paper discusses an automatic visual-servoing system, in which a laser and a CCD camera are used for imaging the pattern of joint groove. The algorithm used here is simple and robust to find out the gap width and gap center. As a consequence, the speed of algorithm is very fast and optimized. A feature of this system is that it processes only by summing the vertical line and horizontal line of screen without any image preprocessing in order to get the energy information of lines alternatively. It is practical and useful for the system requiring a fast process time of vision.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1408-1411
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• 1996

In arc welding processes, because of the complexity and nonlinearity of heat transfer phenomena, it is often difficult to design an effective control system based upon an exact mathematic model. In this paper, we simulated the welding process for various welding conditions and positions to investigate the variations of temperature distribution for those cases. Those will be used as a preinformation for developing quality control system for arc welding process.

• Journal of the KSME
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• v.31 no.7
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• pp.636-643
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• 1991

그 동안 투자가치를 기준으로 국내 가전 및 자동차산업 분야에서 고품질작업을 위한 로봇 시스 템(소형부품 조립과 스폿, 아크용접 및 실릴용 등)의 도입이 대기업을 중심으로 활발히 전개되어 왔으나, 90년대에 들어서면서 로봇 적용기술력의 향상과 로봇 시스템가격의 하락에 힘입어 열 악한 작업환경에서 작업인력을 대치할 수 있고, 다품종 소량생산에 적용할 다기능 및 지능로봇 시스템의 도입이 활발하게 검토되고 있다. 여기서는 이러한 제조업 분야의 자동화동향변화에 부응하여, 열악한 작업환경을 지닌 주물공장에서 3D 작업환경을 기피하는 작업자를 대신하고, 공장자동화의 한 셀(CELL)로서 연계자동화에 적용할 수 있는 주물소재의 가스절단 로봇 시스템 및 다버링 로봇 시스템에 대하여 당사의 개발적용 사례를 소개하고자 한다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.349-353
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• 1992

로봇 경로프로그래밍 작업의 단순화는 산업용 로봇응용분야중 경로가 복잡할 경우, 예를 들어 연삭, 디버링, 폴리싱등 의 가공분야 그리고 아크용접같은 작업에서, 더욱 절실한 문제가 되고있다. 기존 로봇 프로그래밍 방식은 죠이스틱 또는 티칭 유니트, 오프라인 그리고 메스터-슬레이브 방식으로 구분될 수 있는데 각각 많은 프로그래밍 시간소요, 현장성부족 그리고 적용 로봇에의 한계를 문제점으로 들 수 있다. 여기서는 6축 수직 다관절 로봇의 손목부위에 6자 유도의 F/T 센서를 부착하여 작업자가 직접 로봇의 엔드 이펙트를 잡고 원하는 경로를 따라가는 동안 경로가 자동 프로 그래밍되는 알고리즘을 실험 결과와 함께 제시하고 있다.

• Journal of Welding and Joining
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• v.11 no.3
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• pp.22-33
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• 1993

Arc sensor is indispensable to arc welding robot systems for compensating the joint misalignment such as mismatch of the workpiece, ill-conditioned positioner and thermal deformation during welding. Furthermore, the amount of these mismatches cannot be preivously expected, and changes from time to time. There are many kinds of seam trackers for correcting the welding path of the robot, where non-contact type sensors arc prevalently used in arc welding robot systems. In this study, an arc sensor was developed for GMA and FCA welding robot system. Since the arc sensor uses the arc characteristics during welding, the operating principle of the arc sensor must be adjusted according to the welding condition. Especially in GMA welding with the $CO_{2}$ shielding gas, the welding arc is not stable because of the short circuit and non-axial globular transfer mode of the molten droplet. In this study, the 2nd order least square curve fitting algorithm was adopted and the applicability of this algorithm was investigated for robot welding systems. For easy usage of the arc sensor, the operating parameters for arc sensor were limited to eight which can be easily determined by the operator.

• Proceedings of the Korean Society of Computer Information Conference
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• 2009.01a
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• pp.9-12
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• 2009

최근 무인 로봇 및 산업 자동화의 비약적인 발전으로 용접 분야에서도 무인화 및 자동화 시스템 구축이 활성화 되고 있다. 본 논문에서는 아크 용접 시스템의 주요한 용접 인자인 용접전류, 용접전압 정보를 PSoC 기반의 WirelessUSB를 이용하여 무선으로 모니터링 시스템에 전송하고 이를 신경회로망에 적용하여 용접 현상을 모니터링 하였다. 또한 산업 현장에도 일반화된 TCP/IP 통신을 이용하여 원격으로 관리가 가능하도록 구현하였다.

• 기계와재료
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• v.5 no.3 s.17
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• pp.88-93
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• 1993

• Proceedings of the KWS Conference
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• 2008.05a
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• pp.38-38
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• 2008

• Journal of Welding and Joining
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• v.26 no.5
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• pp.4-10
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• 2008

• Journal of Welding and Joining
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• v.16 no.3
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• pp.129-140
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• 1998

An interface system was developed to offer the welding capability to a robot controller which had not any embedded function for arc welding before, and also an arc sensor algorithm was proposed for weld seam tracking of the welding robot. For the interface system between the robot controller and welding equipments, data communication software and interface connections were composed. The interface system was mae to correspond welding condition, correction data, operation sequence and current status with the robot controller by mutual had shaking and digital signal transfer. Graphic user interface program developed under the environment of windows made it easy to monitor data communication and operation status, and to control welding and sensing sequence. Arc sensing algorithm proposed in this study to compensate torch position error was based on a fuzzy logic with the variables of current difference and current differenced change at torch weaving extremities. The developed interface system could be successfully implemented in between welding equipments and the robot controller, and showed normal status and exact function in data and signal communication between the systems. The whole robot welding system was then examined to verify its welding and seam tracking capabilities in horizontal fillet, vertical fillet, and 3-dimensional fillet weldment. The experiments revealed sound weld bead shapes and also good seam tracing results.