• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.38-44
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.311-312
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• 2011

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.85-92
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• 2024

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.65-66
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.487-488
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• 2008

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.96-104
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• 2013

Study of human-robot Interaction gets more and more attention to expand the robot application for tasks difficult by robot alone. Developed countries are preparing for a new market by introducing the concept of 'Co-Robot' model of human-robot Interaction. Our research of direct teaching is a way to instruct robot's trajectory by human's handling of its end device. This method is more intuitive than other existing methods. The benefit of this approach includes easy and fast teaching even by non-professional workers. And it can enhance utilization of robots in small and medium-sized enterprises for small quantity batch production. In this study, we developed the algorithms for creating accurate trajectory from repeated inaccurate direct teaching and GUI for the direct teaching. We also propose the basic framework for direct teaching.

• Journal of Welding and Joining
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• v.14 no.1
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• pp.30-37
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• 1996

조선에서 추진되어온 용접로봇의 적용은 주로 대조립 용접공정의 자동화로서, 갠트리(Gantry)에 용접토치를 장착한 로봇을 설치하여 구성하였다. 이러한 시스템에 서의 용접은 로봇을 용접부위까지 이송시킨 후 로봇의 구동으로 용접을 수행하거나, 또는 로봇과 캔트리의 동시 구동으로 용접을 수행하기도 한다. 또한 이 공정은 복잡 한 용접구조물을 OLP(Off-Line Programming)를 이용하여 교시하므로서 효과적인 자동 화 시스템의 구성이 가능할 수 있었다. 소조립 공정은 대조립공정과 비교하면 더 간단 한 부재의 용접이라 할 수 있으나 공정과 공장의 생산방법에 따라 자동화의 어려움은 따른다. 적용되는 매니프레이타는 소조립 공정의 특성에 맞게 그 형태가 설계되어야 하고 이를 운용하는 시스템은 소조립 생산방법에 맞게 통합, 개발되는 Task-Based System"이 되어야 한다. 특히 소조립 공정은 대조립 공정과 달리 여러가지 용접 판넬 을 동시에 이송시킨 후 용접함으로서 OLP의 직접 적용을 어렵게 하는 요인이 있어 이것을 해결하는 것이 생산성을 증가시키는데 적지 않은 영향을 미친다 하겠다. 이 글에서는 소조립 용접 자동화를 구성하기 위해 필요한 젓으로서 소조립 용접 공정을 소개하고, 공정의 특성에 맞도록 설계된 매니퓰레이타 시스템과, OLP, 판넬인식, 자동 교시 모들로 이루어지는 작업인식 시스템에 관해 기술한다.기술한다.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.656-664
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• 2016

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.