• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.434-434
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• 2000

It is the main problem to measure the position and orientation of a robot end effector for the calibration of robots. The calibration methods can be used as a tool to improve the accuracy of robots without change of the arm or control architecture of robots. But such calibration methods require the accurate measurements. Dynamic measurement of position and orientation Provides a solution of this problem and improves dynamic accuracy by dynamic calibration o( robots. This paper describes the development o( the laser tracking system capable of determining the static and dynamic performance of industrial robots. The structure and system components are presented and basic experimental results are included to demonstrate the instrument performance. The system can be applied to the remote controlled mobile robots as weil as the calibration of robots.

• 한국산학기술학회논문지
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• 제21권8호
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• pp.342-347
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• 2020

최근 국내에도 협동로봇이 산업용로봇 시장에 진입하면서 제조업을 중심으로 설치되고 있으나 산업안전보건법 제93조 안전검사에 따른 산업용로봇의 안전규제를 그대로 적용받고 있어 안전보호 대책인 펜스와 매트를 설치하여야 하는 상황이었다. 협동로봇을 설치할 사업장은 ISO 10218-2과 ISO 12100에 따라 로봇-인간, 작업환경, 작업방식에 대한 위험성평가를 실시하고 위험도를 낮추어야 한다. 그러나, 국내 산업현장에 협동로봇의 도입 초기인 관계로 협동로봇에 대한 새로운 위험성도 알려지지 않고 있으며 위험성평가도 활성화되지 않아 사업장에서는 위험성평가가 낯설고 어렵게 받아들여지고 있다. 협동로봇의 위험성평가는 로봇과 인간이 공존하는 개념에서 출발해서 작업자의 이상행동, 인적 오류, 설비결함, 인터록 기능에 초점을 맞춰 실제 일어날 가능성이 높은 위험을 발굴하고 개선하는데 그 목적이 있으며 본 연구는 국내 자동차부품 제조업에 적용된 사례를 통해 입증하고자 하였다. 향후에도 협동로봇의 위험성평가를 다양한 공정 및 작업에 대해 사례 발굴함으로써 중소기업의 안전성 향상에 유용할 것으로 기대한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.296-301
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• 2003

Various robots are emerging nowadays to human life from industrial factories. Especially, technologies from multiple disciplines such as information technology (IT), bio technology (BT), and etc. are merged to make novel types of robots. Robots are employed to every place of works such as entertainment, education, service. rescue, medical support, dangerous job, production, etc. The robot in science fictions are now realized so that they become a new species taking human job and more than human.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.282-287
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• 2008

In distributed mobile robot systems, autonomous robots accomplish complicated tasks through intelligent cooperation with each other. This paper presents behavior learning and online distributed evolution for cooperative behavior of a group of autonomous robots. Learning and evolution capabilities are essential for a group of autonomous robots to adapt to unstructured environments. Behavior learning finds an optimal state-action mapping of a robot for a given operating condition. In behavior learning, a Q-learning algorithm is modified to handle delayed rewards in the distributed robot systems. A group of robots implements cooperative behaviors through communication with other robots. Individual robots improve the state-action mapping through online evolution with the crossover operator based on the Q-values and their update frequencies. A cooperative material search problem demonstrated the effectiveness of the proposed behavior learning and online distributed evolution method for implementing cooperative behavior of a group of autonomous mobile robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.30.2-30
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• 2001

As the era of the human friendly robot looms, the intelligent autonomous mobile robots have obtained tremendous interests in recent years. The robots may be service robots for serving human or industrial robots for replacing human. For the coexistance with human, the robots must be able to feel and recognize three dimensional space that human live. In this paper, we propose three dimensional environmental modeling method based on a neural network technique called Growing Neural Gas Network. The purpose of this neural network is to generate a graphical structure which reflects the topology of the input space. Through this method, the robots´ surroundings are autonomously segmented ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.92-97
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• 1988

The path planning is done at the joint level. Cubic spline functions are used for constructing joint trajectories for industrial robots. For N-joint robot, Cartesian knots are transformed into N sets of joint displacements, with one set for each joint. For industrial application the speed of operation affects the productivity. An algorithm is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocties acceleration and jerks.

• 제어로봇시스템학회논문지
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• 제22권2호
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• pp.89-96
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• 2016

This paper describes the design of a force measurement and communication system for the force measuring system in industrial robots. The force measurement and communication system is composed of a multi-axis force sensor and a controller for measuring the forces (x-direction force, y-direction force and z-direction force) and sending the measured forces to the robot's controller (PLC: Programmable Logic Controller). In this paper, the force measurement and communication system was designed and fabricated by using a DSP (Digital Signal Processor). An environment test and a grinding and deburring test using an industrial robot with the force measurement and communication system with three-axis force sensor were carried out to characterize the system. The tests showed that the system could safely measure the forces from the three-axis force sensor and send the measured forces to the industrial robot's controller while the grinding and deburring test was performed. Thus, it is thought that the fabricated force measurement and communication system could be used for controlling the force for an industrial robot's grinding and deburring.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2039-2044
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• 2003

The advanced infrastructure for accelerating the development of personal robots is presented. Based on this structure, effective ways for integrating the various commercial components and interfacing among them are studied. The infrastructure includes the technology such as modularization based on independent processing and standardization open to other developers. The infrastructure supports not only that each hardware component of a personal robot can be easily attached to and detached from the whole system mechanically but also that each software of the components can be functionally distributed. As a result, we developed the fully modularized personal robots mechanically, and a virtual machine for the control of these robots. In this paper the proposed infrastructure and its implementations are described.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.813-816
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• 1991

Direct-drive SCARA-type industrial robots are increasingly used in the assembly process of small mechanical parts as well as electronic components, which uses direct-drive (DD) motors instead of reduction gear-type conventional motors for the actuators of manipulator arms. There are many advantages in using DD motors for robots, such as no backlash, low friction, high mechanical stiffness capability for fast and precise arm control, and high repeatability of positioning. However, there exist a number of difficulties which must be overcome to ensure proper construction and operation; increasing effects of load veriation and nonlinear and coupling dynamics, severe vibration caused by resonance of the manipulator components and low mechanical damping, etc. In order to handle these difficulties, lots of efforts have been made such as reduction of the arm inertia and elimination of the resonance, Performance evaluation of a recently developed, domestic DD robot shows that it works excellently compared with conventional robots. It, however, requires proved reliability and price competitiveness against its foreign counterparts.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1139-1143
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• 1991

Using industrial robots and sensors, we developed an inline car body inspection system which proposes high flexibility and sufficient accuracy. Car Body Inspection(CBI) cell consists of two industrial robots, two corresponding carriages, camera vision system, a process computer with multi-tasking ability and several LDS's. As industrial robots guarantee sufficient repeatabilities, the CBI cell adopts the concept of relative measurement instead of that of absolute measurement. By comparing the actual measured data with reference data, the dimensional errors of the corresponding points can be calculated. The length of the robot arms changes according to ambient temperature and it affects the measuring accuracy. To compensate this error, a robot arm calibration process was realized. By measuring a reference jig, the differential changes of the robot arms due to temperature fluctuation can be calculated and compensated.