• 조명전기설비학회논문지
• /
• 제25권9호
• /
• pp.50-55
• /
• 2011

This research is to apply the adaptive control of neuron networks for the real-time attitude control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of attitude control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. In this research we used the response property curve of the robot instead of the activation function of neural network algorithms, so the adaptive control system of neural networks constructed without the information of modeling can perform a real-time control. The proposed adaptive control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 춘계학술대회 논문집
• /
• pp.438-441
• /
• 2002

Today, it is concentrating on automation and these appearance of industrial robot has been dealing flexibly with this field. If it is drilling through these industrial robot, it will be a high efficiency of the productivity. Therefore, electric drill is setting on articulated robot with six degree of freedom and the 5 face is drilling as the type of articulated robot by a machine object setting. This study was carried out to get the possibility about drilling as analyzing with experimental frequency, original vibration of robot and appearance of vibration when it is practical drilling.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.1772-1775
• /
• 2003

The stiffness of multi-articulated industrial robots is very weak, because their structure is an articulated type with some links and joints. Thus it is known that cutting processes for metals are not accepted in machine shop well, but they have a lot of merits for cutting processes, for example. drilling, tapping. and engraving etc., because of the characteristics of their high degree of freedom. The temptation of cutting aluminium was carried out to investigate the feasibility and the limitations or constrains for cutting metals on them. First the mode shapes of 6-axes FANUC welding robot were taken and analysed, and next the cutting processes were practically carried out on it. The results of study were found out to show the feasibility of cutting processes at end-milling under 6mm of tool diameter. as well as to have some limitations and constrains, for examples, surface roughness and feed rate, depth of cut, cutting force etc..

• 조명전기설비학회논문지
• /
• 제26권10호
• /
• pp.89-94
• /
• 2012

This research is to apply the control of neuron networks for the real-time walking control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of walking control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. This paper proposes a new mode to implement a neural network controller by installing a real object for controlling and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The proposed control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

• 한국기계가공학회지
• /
• 제3권2호
• /
• pp.39-45
• /
• 2004

Generally industrial multi-articulated robots are used for parts assembly, welding, and painting processes. The high flexibility of them is very useful to not only parts assembly, welding, and painting processes, but also machining processes. But because of machining processes to need a high stiffness of machine structure, so machining is usually not tried at them, except deburring processes now. During past three years the works are carried out to improve the stiffness of a industrial multi-articulated robot With some gas spring as a first idea in this research area. As a result of that stiffness was significantly up, and found and investigated the machining possibility at it.

• 한국기계가공학회지
• /
• 제2권4호
• /
• pp.33-39
• /
• 2003

The stiffness of multi-articulated industrial robots is very weak, because their structure is an articulated type with some links and joints. Thus it is known that cutting processes for metals are not accepted in machine shop well, but they have a lot of merits for cutting processes, for example, drilling, tapping, and engraving etc, because of the characteristics of their high degree of freedom. The temptation of cutting aluminium was carried out to investigate the feasibility and the limitations or constraints for cutting metals on them. First the mode shapes of 6 degree of freedom welding robot were taken and analysed, and next the cutting processes were practically carried out on it. The results of study were found out to show the feasibility of cutting processes at drilling under 6mm of tool diameter, as well as to have some limitations and constraints, for examples, feed rate, depth of cut and cutting force etc.

• 로봇학회논문지
• /
• 제12권1호
• /
• pp.11-18
• /
• 2017

Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

• 로봇학회논문지
• /
• 제12권2호
• /
• pp.161-172
• /
• 2017

Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.

• 한국산학기술학회:학술대회논문집
• /
• 한국산학기술학회 2004년도 추계학술대회
• /
• pp.166-169
• /
• 2004

In this paper show how to design a redundant robot which is suitable for the multiple task without any constraints on the workspace. The implementation is possible by the rigid connection of a mobile robot and a task robot. Use a five joint articulated robot as the task robot; designed the 3 joint mobile robot for this usage. For a task execution assigned to the redundant robot, not only the task robot but the mobile robot should work in the coordinated way. therefore, a kinematic connection of the two robots should be cleary represented in a frame. And, also the dynamic interaction between the two robots needs to be analyzed. Clarified these issues considering the control of the redundant robot. Finally, demonstrate away of utilization of the redundancy as the cooperation between the mobile robot and the task robot to execute a common task.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.412-412
• /
• 2000

This paper presents a task teaching method for off-line programming of a multi-robot system. Teaching commands were developed in order to simplify a complex teaching process, to shorten the setup time for new working environment and to have flexibility for changes in working environment. Four teaching commands can be used to automatically generate trajectories of an end-effector of the robot in electronics assembly line. The robots used in the work cell are a four-axis SCARA robot and six-axis articulated robot. Each robot is controlled in a independent way while objects, working environment and robots are modeled in corresponding modules, respectively. The off- line programming system developed uses OpenGL for a smooth graphic effect in Window s where three dimensional CAD data can be leaded for graphical modeling.