• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.159-159
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• 2000

최근 조선분야의 경우 생산원가의 절감, 품질의 고급화, 단순작업에 대한 근로기피 등의 이유로 로봇시스템 적용에 대한 필요성이 크게 대두되고 있다. 그러나 기존의 로봇 시스템의 교시방식이 교시-재생(Teaching-Playback)방식이어서 작업부재의 형상 및 치수가 매번 변경되는 중공업 분야에서는 적용이 불가능하였다. 본 연구에서는 조선용 아크용접 로봇을 위한 오프라인 프로그램밍(OLP: Off-Line Programming) 시스템을 개발하였다. 오프라인 프로그램밍 시스템의 경우 작업중인 로봇과는 상관없이 다음 부재에 대한 형상 데이터만을 이용하여 컴퓨터상에서 다음 작업프로그램을 미리 생성할 수 있으므로 기존의 온라인 교시-재생 방식의 교시시간의 과다라는 문제를 극복할 수 있다. 본 연구에서는 강교 판넬 및 조선 소조립용으로 개발 중인 아크용접용 로봇 시스템을 위한 오프라인 프로그래밍 시스템을 개발하였다. CAD 데이터나 OLP의 모델링 기능으로 작업부재를 형상한 후 미리 데이터베이스화 되어 있는 자료를 검색하여 부위별 작업매크로 확보를 위하여 실제 로봇 시스템을 이용한 작업테스트를 수행하였다. 개발된 오프라인 프로그래밍 시스템은 기능보완 후 당사 아크용접용 로봇시스템에 적용될 계획이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.180.6-180
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• 2001

Welding/soldering automation is one of the most important manufacturing issues in order to lower the cost, increase the quality, and avoid labor problems. An off-line programming, OLP, is one of the powerful methods to solve this kind of diver sity problem, Unless an OLP system is ready for the path optimization in welding/soldering, a waste of time and cost is unavoidable due to an inefficient path in welding/soldering processes. Therefore, this study attempts to obtain path optimization using a genetic algorithm based on artificial intelligences. The problem of the welding path optimization is defined as conventional TSP (traveling salesman problem), but still paths have to go through welding lines. An improved genetic algorithm was suggested and the problem was formulated as a TSP problem considering ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.65-68
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• 1999

In this study, an off-line automatic teaching method using vision information for robotic assembly task is proposed. Many of industrial robots are still taught and programmed by a teaching pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and played back repetitively to perform the robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and transferred to the robot controller. This teaching process is implemented through an off-line programming(OLP) software. The OLP is developed for the robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on the assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line automatic teaching.

• 한국산학기술학회논문지
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• 제20권3호
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• pp.16-22
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• 2019

로봇을 적용한 자동화 생산 라인에서 로봇 셋업 시 시뮬레이션을 통한 Off-Line Programming(OLP)과 로봇 캘리브레이션은 작업 시간을 단축하고 양산 전부터 생산 품질을 관리하기 위해 필수적이다. 본 연구에서는 상용 3D 스캐너를 사용하여 생산 라인의 CAD 데이터와 현장의 3차원 측정 스캔 데이터를 정합하는 로봇 캘리브레이션 방법을 개발하였다. 제안한 방법은 Iterative Closest Point(ICP) 알고리즘을 통해 두 개의 3차원 점군 데이터를 정합하여 로봇을 교정한다. 정합은 3단계로 수행한다. 먼저 CAD 데이터로부터 3개의 평면으로 연결된 꼭짓점을 특징점으로 추출한다. 추출한 특징점 주변에 위치한 스캔 점군데이터로부터 평면을 재구성하여 대응하는 특징점을 생성한다. 마지막으로 ICP 알고리즘을 통해 추출한 특징점들 간의 거리를 최소화하여 위치 변환 행렬을 계산한다. 자동차 차체 조립라인의 스팟용접 로봇 설치에 제안한 방법을 적용한 결과 스팟용접에서 일반적으로 요구하는 정밀도 1.5mm 수준으로 로봇의 위치 및 자세를 캘리브레이션 할 수 있었으며, 기존에 레이저 트래커를 사용하면 로봇 한 대당 5시간 이상 소요되던 셋업 시간은 40분 이내로 단축할 수 있었다. 개발한 시스템을 사용하면 차체 스팟 용접에 필요한 정밀도를 유지하면서 자동차 차체 조립 라인의 OLP 작업시간을 단축하여, 로봇 정밀 티칭 시간을 단축하여, 생산제품의 품질 향상 및 불량률을 최소화할 수 있다.

• Journal of Oral Medicine and Pain
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• 제46권2호
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• pp.41-48
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• 2021

Purpose: To evaluate compliance by analyzing and comparing treatment duration, degree of improvement after treatment and treatment response of oral lichen planus (OLP) patients according to characteristics of them and the severity of the lesion. Methods: According to treatment process, 132 subjects with OLP who first visited the Department of Oral Medicine at the Pusan National University Dental Hospital from January 2017 to December 2020were classified into three groups: Treatment completed (CT) group, Under treatment (UT) group, and Dropped out during follow-up (DT) group. The reticulation/keratosis, erythema, and ulceration (REU) scoring system was used to assess the severity of OLP. The degree of improvement after treatment was evaluated in CT group. Results: There were 53 (40.15%) CT, 27 (20.45%) UT and 52 (39.39%) DT. In CT group, according to initial REU score there was a statistical difference in the degree of improvement, but not in the length of time to complete treatment. There was no statistical difference between the days it took for patients to feel symptom relief, and the days of entire treatment among three groups. However, there was a positive correlation between the REU score of gingiva and duration of treatment in DT group. In the CT and DT groups, there was a correlation between the length of time taken to relieve symptoms and the duration of treatment. Conclusions: The severity of the gingival lesion and the initial response to treatment have a large effect on the entire treatment period and prognosis, so it should be considered when explaining the disease prognosis and treatment period to patients, and the clinician needs to focus on initial symptom relief.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.724-727
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• 1997

In this paper, we developed a Windows 95 version Off-Line Programming System which can simulate a Robot model in 3D Graphic space. 4 axes SCARA Robot (especially FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.565-570
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• 1999

In this paper, we developed a windows 95 version Off-Line Programming system which can simulate a Robot model in 3D Graphics space. 4axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 한국정밀공학회지
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• 제19권10호
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• pp.66-76
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• 2002

Automated welding and soldering are an important manufacturing issue in order to lower the cost, increase the quality, and avoid labor problems. An off-line programming, OLP, is one of the powerful methods to solve this kind of diversity problem. Unless an OLP system is ready for the path optimization in welding and soldering, the waste of time and cost is unavoidable due to inefficient paths in welding and soldering processes. Therefore, this study attempts to obtain path optimization using a genetic algorithm based on artificial intelligences. The problem of welding path optimization is defined as a conventional TSP (traveling salesman problem), but still paths have to go through welding lines. An improved genetic algorithm was suggested and the problem was formulated as a TSP problem considering the both end points of each welding line read from database files, and then the transit problem of welding line was solved using the improved suggested genetic algorithm.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.79-84
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• 2004

In this study, a robot welding programming system is developed for gantry-type robot using a neutral CAD data format. The system automatically extracts welding line data from tile CAD model represented in IGES format and generates a robot program based on the weld line extracted. The welding program is simulated jar verification by using IGRlP, a virtual manufacturing solution. The robot welding programming system is demonstrated with a simple example.

• 한국공작기계학회논문집
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• 제11권3호
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• pp.21-27
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• 2002

In this paper, we have developed a Widows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. The SCARA robot with four joints (FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Widows 98's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic 1ibraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.