• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.678-682
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• 2000

The purpose of this study is to develop a powerful 6-axes general welding robot utilizing a low cost vision system. The developed vision system is composed of a CCD camera, a PC with windows 98 OS, and a PC-Robot communication program using Visual C++. A test was carried out to investigate whether the welding torch can precisely follow up the welding path. It shows that the result of this study can readily be applied to practical welding operations.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.4
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• pp.89-95
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• 1997

Welding technique is widely applied to general industry such as pressure vessel for chemical plant, pipe system, heavy industry, and automobile. There are some points which must be considered when robot system is used in welding automation process for productivity improvement. Welding quality is governed by heat input, and this quantity can be different according to shape, property, and thick of material . For desired heat input , weld input parameters such as welding voltage, current, and welding velocity must be determined with those consideration. Until now these parameters have been determined mainly by experience of operator. In this study, the size of welding zone was predicted by fuzzy rules were constructed from the relation between welding variables and weld pool size. Inverse model method which welding control input for welder is determined with optimum voltage and current by fuzzy controller is validatied by computer simulation.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.24-33
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• 1990

Since a number of welding points are distributed in an automobile part, the number of welding points alloted to each robot are large. So, there is an increasing need of an optimal sequence planning to minimize the total welding time. In this paper, an off-line programming scheme for effective teaching of a spot welding robot is presented. A collision free, optimal welding sequence planning is done through applying the modified Traveling Salesman Problem algorithm. Also, a data extraction method from an existing general CAD system is presented for reuse of the existing exact model data produced by a model designer and easy constructing the world model data base. The result show that the proposed system could enhance the efficiency of spot welding robot in automobile industry.

• Journal of Welding and Joining
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• v.34 no.3
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• pp.1-5
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• 2016

At present, FSW(friction stir welding) process is being considered as an actual way for production of various industrial products. However FSW process involves high temperature and load on the tool during welding. These are make a difference between FSW machine and general machine tools. From this reason, development of FSW machine needs very careful consideration on stiffness of machine structure, spindle and moving axis including machine control system. In this study authors investigate on the trends of technology development of FSW machine in order to share the information for more extension of FSW technology with related researchers and engineers.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.206-210
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• 1989

In automobile glass fitting the stud is welded on the window seating panel in order to insert the plastic molding onto the stud. Since this type of process is in general manually done, almost 50% of the output turns out to be failure resulted from work inefficiency and weld inferiority. Therefore, it is required to improve this process for the productivity elevation through the application of the robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.22-26
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• 1999

In general, three are many degrees of freedom (DOF) in industrial robots. That can generate several special end-effector's positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applications such as welding, spray painting, deburring, and so on. In this research, new method is presented which safely maintain the desired constant end-effector's orientation and minimize the numbers of segments in path. These algorithms may apply to welding, painting, and assembling. The simulation study of straight line and circular motions in arc-welding operations is carried out to show the sure proof of these algorithms.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• Journal of Welding and Joining
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• v.26 no.4
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• pp.85-91
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• 2008

The grooving corrosion is caused mainly by the different microstructures between the matrix and weld which is formed during the rapid heating and cooling cycle in welding. By this localized corrosion reaction of pipes, it evolves economic problems such as the early damage of industrial facilities and pipe lines of apartment, and water pollution. So lots of researches were carried out already about grooving corrosion mechanism of ERW carbon steel pipe but there is seldom study for water hammer happened by fluid phenomenon and corrosion rate by flow velocity. In this study, the analysis based on hydrodynamic and fracture mechanics was carried out. ANSYS, FLUENT and STAR-CD were used for confirmation of flow phenomenon and stress on the pipe. As the results, fatigue failure is able to be happened by water hammer and grooving corrosion rate is increased cause by turbulent. Grooving corrosion is happened on the pipe, then friction loss of fluid is occurred from corroded part. Erosion can be happened enough in corroded region of microscopic size that wear "V" form. Also pipe is able to be damaged by water hammer effects because of corroded region is general acting as a notch effects. Corrosion depth was more than half of total thickness, it can be damaged from water hammer pressure.