• Journal of Mechanical Science and Technology
• /
• v.14 no.7
• /
• pp.782-788
• /
• 2000

In this paper, we present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only around a desired location but also at other locations. The suggested technique can guide a robot manipulator to the desired location without providing a priori knowledge such as the relative distance to the desired location or the model of an object even when the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by experimental results and compared with conventional control methods for an assembly robot.

• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.6
• /
• pp.369-378
• /
• 2018

This study proposes a new approach to real time implimemtation of shape recognition technology of die casting and forging parts based on robot vision for smart factory. The proposed shape recognition and inspection technology for forging and die casting parts is very useful for manufacturing process automatiom and smart factory including external form's automatic inspection of machanical or electronic panrs for the precision verification. The reliabiblity of proposed technology Ihas been illustrated through experiments.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.808-812
• /
• 2003

We need a lot of manpower and we can cut down a labor cost by applying industrial robots the footwear bonding automation process. In this study, we suggest how to program off-line robot path along a shoe's outsole shape in the footwear bonding process by 5-axis microscribe system like robot arms. This microscribe system development consists 5-axis microscribe mechanics, signal processing circuit, and PC with software. It is the system for making database of a shoe's outsole through the movement of a microscribe with many joints. To do this, first read 5-encoders' pulse values while a robot arm points a shoe's outsole shape from the initial status. Then, calculate a relative shoe's outsole by Denavit-Hatenberg's (D-H) direct Kinematics of known length of links and coordinate values. Next, calculate the encoders' pulse values of the robot arm's rotation and transmitting the angle pulse values to the PC through a circuit. Finally, it is able to display a shoe's outsole at real-time by computing the Denvavit-Hantenberg's (D-H) direct kinematics in the PC. With the coordinate values calculated above, we can draw a bonding gauge-line on the upper. Also, we can make off-line robot path programming compute a shoe's bonding area on the upper. These results will be effectively applied for programming a robot path on off-line and automatically.

• Proceedings of the KIPE Conference
• /
• 2006.06a
• /
• pp.158-162
• /
• 2006

A lot of pieces of iron plate are used to build a ship. The states of cutting surface of iron are however bended or ununiformly cuttled by cutting machine. These may cause bad Quality of painting, and shorter lifetime of iron by rust. In this paper, a new approach of grinding force control method which teaching of robot is not required is proposed to avoid long preparation time of robot and to improve the productivity. The way used in this paper is just like a blind man works through the road with stick only.

• Journal of the Korea Institute of Building Construction
• /
• v.12 no.2
• /
• pp.220-229
• /
• 2012

In recent years, the number of high-rise buildings has been on the rise. As buildings have become larger in scale, significantly different issues related to their construction and maintenance have emerged. In addition, the automation and mechanization of the cleaning work for the curtain wall, one of the most frequently-performed tasks in building maintenance, is required as a fundamental measure. For this reason, a guide-rail cleaning robot system is emerging as one of the measures in response to external factors, including gust. Therefore, this is a preliminary study for the automation and mechanization of the curtain wall cleaning of high-rise buildings, and aims to derive the basic units and prepare for the concept of the guide rail. It is expected to serve as precedent research for the development and operation of a curtain-wall cleaning robot, and to prepare the basis for an final design of optimal guide rail.

• The Journal of Korea Robotics Society
• /
• v.6 no.1
• /
• pp.49-57
• /
• 2011

In many industries, the accurate and quick checking of goods in storage is of great importance. Most today's inventory checking is based on bar code scanning, but the relative position between a bar code and an optical scanner should be maintained in close distance and proper angle for the successful scanning. This requirement makes it difficult to fully automate the inventory information/control systems. The use of RFID technology can be a solution for overcoming this problem. The mobile robot presented in this paper is equipped with an RFID tag scanning system, that automates the otherwise manual or semi-automatic inventory checking process. We designed the robot system in a quite practical approach, and the developed system is close to the commercialization stage. In our experiments, the robot could collect information of goods stacked on shelves autonomously without any failure and maintain corresponding database while it navigated predefined paths between the shelves using vision.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.7
• /
• pp.595-601
• /
• 2005

A mobile robot system utilizing NDT (Non-Destructive Testing) method is designed and fabricated f3r automatic integrity evaluation of large sized industrial reservoirs and pipelines. The developed mobile robot can crawl over the outer surface of the industrial facilities even though the shape of the structures is various and unsymmetric. The robot detects defects such as pinholes, cracks and thickness reduction at the wall of the facilities using EMAT (Electro-Magnetic Acoustic Transducer). Image processing technology for weld line detection at the surface of the target and host programs including defect detecting algorithms are also developed. Automation of defect detection for these kinds of large facilities using mobile robots is helpful to prevent significant troubles of the structures without danger of human beings under harmful environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.279-279
• /
• 2000

In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts fur the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell fur automatic test and assembling in S company.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2022.11a
• /
• pp.155-156
• /
• 2022

In the process of developing an industrial robot, various simulations should be conducted to evaluate the driving, movement, and performance of the robot. Space and time constraints exist to manufacture existing robots and implement various simulations, and efficiency is reduced due to high costs. To solve this problem, many simulations can be conducted by implementing the same movement and working environment as the real environment in virtual reality using digital twin technology. This study proposes a process for establishing a digital twin model of automated layout robots. Using the digital twin model, it is expected that it will not only evaluate the hardware performance of the robot in the future, but also verify the robot's algorithms such as motion planning and work process, identify and solve potential problems in advance, and prevent problems caused by software.

• Journal of the Korean Society of Mechanical Technology
• /
• v.20 no.6
• /
• pp.803-808
• /
• 2018

Combining digital automation solutions throughout recent manufacturing process is essential. Advanced robot and mechanical techniques are required for design, manufacture, and distribution process. Manual design of repetitive similar mechanical components during the development phase of these advanced machines and robots can occur wasting time and money. Developed gear design module, which is the power transfer system mechanical component, was programmed in the Visual Basic language in CATIA V5 environment. Automation Process is Based on Parametric Modeling Method. and it was found to be effective in reducing design time compared to designers manual modeling.