• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.10 no.3
• /
• pp.19-25
• /
• 2001

In this paper, we developed a Windows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. 4 axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinemat-ics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 98s GUI environment was also studied. The developing is Microsoft Visual C++. Graphic libraries, OpernGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.04a
• /
• pp.543-548
• /
• 2000

In this study, an interactive programming method for robot in electronic part assembly task is proposed. Many of industrial robots are still taught and programmed by a teach 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 play back repetitively to perform 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 downloaded to the robot controller. This teaching process is implemented through an off-line programming software. The OLP is developed for an 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 an assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line teaching in the system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2002.10a
• /
• pp.250-255
• /
• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 98 version. 4 axes industrial robot 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 off-line program system in the Windows 98's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.445-449
• /
• 1993

The role of a robot becomes more important as factory automation is widely spread in the manufacturing industry. An off-line program system has been required for uninterruption of production lines because it can save cost and time spent in adjusting a robot to a new workcell. The objective of this paper is to develop our own OLP system for a SCARA type FARA robot with four axes. Three-dimensional graphic results are presented for the case when the robot is simulated using the computed torque method with a PD controller and the continuous path trajectory planning.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.277-280
• /
• 2000

Reverse Engineering is a procedure where the results of engineering decisions in manufacturing is feedback to the design phase and the knowledge-base is generated from the process know-how to reduce the errors. Since it used to take lots of time and efforts to finalize the machining of dies out of the original CAD design especially for die spotting and try-outs, reverse engineering is important to improve the productivity and quality of the die manufacturing process. In this regard, we developed system to support reverse engineering in machining of stamping dies for auto-body production. They automatically generate the relevant MC programs for a CMM simply with the input of measuring points in CAD environments, and show the CAD model and the results of inspection simultaneously for the ease of comparison. They also help reduce the overall clearance between the lower and upper dies. Applying these systems to the machining process of stamping dies, we could improve the reliability of measuring and get the optimal compensation distance between the two dies. We also analyzed the expected benefits of the system in terms of savings in time and costs.

• Korean Journal of Computational Design and Engineering
• /
• v.13 no.4
• /
• pp.296-304
• /
• 2008

Recently, various attempts are being done to apply off-line programming system to field of paint robot. But most commercial simulation softwares have problems that are slow simulation speed and not support various painting paramenters on simulation. This paper proposes enhanced paint simulation method for off-line programming system. For these, this method used the mathematical model of flux field from a previous research. The flux field has the flux distribution function, which reflects on the feature of paint spray. A previous research derived this flux distribution function for an integral function and calculated paint thickness function for an integral function. But if flux distribution function is defined as an integral function, it is inadequate to use for real-time simulation because a number of calculation is needed for estimation of paint thickness distribution. Therefore, we defined the flux distribution function by numerical method for reducing a mount of calculation for estimation of paint thickness. We derived the equation of paint thickness function analytically for reducing a mount of calculation from the paint distribution function defined by numerical method. In order to prove proposed paint simulation method this paper compares the simulated and measured thickness. From this comparison this paper show that paint thickness distribution is predicted precisely by proposed spray paint simulation process.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.5 s.170
• /
• pp.113-120
• /
• 2005

Because of the turbulent markets and the increasing demand on product quality, the application of new technology to practice is increasingly important. In case of automotive industries, they take interest in laser welding to solve these problems because laser welding has many advantages such as good accessibility, welding quality, fast welding speed and so on. To apply this technology to welding of car body, the data of laser welding are collected through lots of the experiment according to the material, geometry and layer number of welding points. Based on the experiment results and the information of product, i.e. the car side panel, the clustering of stitches for laser welding was carried out and the optimal equipments are selected through the comparison between the requirements of welding and the potential of equipments. Using these results, laser welding cell for the car side panel are configured with the concept of the digital manufacturing, which ensures maximum planning security with visualization and simulation. Finally, the optimal laser welding cell is chosen by the evaluation of alternative cells with assessment criteria.