• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.49 no.2
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• pp.153-160
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• 2013

Control allocation is an important part of a system. It implements the function that map the desired command forces from the controller into the commands of the different actuators. In this paper, the authors present an approach for solving constrained control allocation problem in vessel system by using multi-parametric quadratic programming (mp-QP) algorithm. The goal of mp-QP algorithm applied in this study is to compute a solution to minimize a quadratic performance index subject to linear equality and inequality constraints. The solution can be pre-computed off-line in the explicit form of a piecewise linear (PWL) function of the generalized forces and constrains. The efficiency of mp-QP approach is evaluated through a dynamic positioning simulation for a vessel by using four tugboats with constraints about limited pushing forces and found to work well.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.106.2-106
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• 2002

$\textbullet$ Contents 1. Introduction $\textbullet$ Contents 2. System Configuration $\textbullet$ Contents 3. Robot Kinematics $\textbullet$ Contents 4. Shoe outsole shape display program and creating data $\textbullet$ Contents 5. Conclusions

• Journal of Welding and Joining
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• v.14 no.1
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• pp.30-37
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• 1996

조선에서 추진되어온 용접로봇의 적용은 주로 대조립 용접공정의 자동화로서, 갠트리(Gantry)에 용접토치를 장착한 로봇을 설치하여 구성하였다. 이러한 시스템에 서의 용접은 로봇을 용접부위까지 이송시킨 후 로봇의 구동으로 용접을 수행하거나, 또는 로봇과 캔트리의 동시 구동으로 용접을 수행하기도 한다. 또한 이 공정은 복잡 한 용접구조물을 OLP(Off-Line Programming)를 이용하여 교시하므로서 효과적인 자동 화 시스템의 구성이 가능할 수 있었다. 소조립 공정은 대조립공정과 비교하면 더 간단 한 부재의 용접이라 할 수 있으나 공정과 공장의 생산방법에 따라 자동화의 어려움은 따른다. 적용되는 매니프레이타는 소조립 공정의 특성에 맞게 그 형태가 설계되어야 하고 이를 운용하는 시스템은 소조립 생산방법에 맞게 통합, 개발되는 Task-Based System"이 되어야 한다. 특히 소조립 공정은 대조립 공정과 달리 여러가지 용접 판넬 을 동시에 이송시킨 후 용접함으로서 OLP의 직접 적용을 어렵게 하는 요인이 있어 이것을 해결하는 것이 생산성을 증가시키는데 적지 않은 영향을 미친다 하겠다. 이 글에서는 소조립 용접 자동화를 구성하기 위해 필요한 젓으로서 소조립 용접 공정을 소개하고, 공정의 특성에 맞도록 설계된 매니퓰레이타 시스템과, OLP, 판넬인식, 자동 교시 모들로 이루어지는 작업인식 시스템에 관해 기술한다.기술한다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.12
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• pp.446-452
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• 2016

Recently, heat resistant super alloys (which are wear-resistant, corrosion-resistant, and heat-resistant), have been used as the basic structural material in offshore and petrochemical plants. On the other hand, making valves from very expensive, high heat-resistant alloys increases the production cost and decreases its market competitiveness. To solve these problems, the technique of overlaying only those that flow on the fluid has been used as an effective method. Nevertheless, because the former technique of overlaying the ball is performed manually, it takes too much time and perfect welding is difficult to perform. To solve this problem, this study developed a robot automation system that can make uniformly overlay welding of the ball for ball-valves. The system consists of a 6-axis welding robot with a welding torch and additional 2 axes for the rotation of positioner, the controller, and a robot path OLP (Off-Line Programming). The CAD drawing data was entered in the Off-line program to obtain the robot teaching point and drive source. Overlay welding paths were implemented using Matlab. Through an automated overlaying system that implemented the OLP, the productivity rose 2.58 times, as the amount of time required for work decreased from 88 hours to 41 hours.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.821-825
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• 1991

This paper presents an architecture and control logic of a Flexible Manufacturing Cell (FMC) which is one of the important elements under Computer Integrated Manufacturing (CIM) environment. To implement FMC, it is very important to develop a software which can control and monitor the overall system in an integrated environment. Our primary concern in this research is not to develop individual systems, but to integrate them in the hierarchical control level. Progress on the research of integrating CAD/CAM, Process Planning, Off-line Robot Programming and Simulation module into FMC control system is reported. FMC hardware system used here has an Automated Storage & Retrieval System (AS/RS), a conveyor system, a transfer robot, a CNC milling machine, a bar-code system, and an IBM PC/AT as Cell Control System (CCS). In order to demonstrate the operational result, the name plates, text-carved aluminium plates, are manufactured by this system.

• 전기의세계
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• v.39 no.6
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• pp.14-19
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• 1990

1. CAD system과 PROPS를 접속하여 CADsystem에서 Design된 surface를 사용할 수 있으며 Robot Kinematics를 graphic library화하여 surface배치 수상 및 path generation 및 animation을 통하여 가공작업을 위한 로보트 운동을 simulation할 수 있게 되었다. 2. Denavit-hartenberg transformation form에 의해 여러 Robot Kinematic을 일반적인 형식으로 library화 하였다. 3. 금형 가공의 공정들을 Menu로 만들어서 Expert system을 도입, 손쉽게 Interactive한 작업을 할 수 있게 하였다. 4. 차후의 연구 목표는 로보트 Calibration S/W의 개발 및 실현 그리고 Expert System을 이용한 Robot Program Generator의 완성을 통한 전체 Off-line programming System을 정립하는데 있다. 이를 위해서 더 실제적인 Tool Path Generation과 Expert System을 이용한 가공 조건의 결정 및 User Interface를 위한 Window가 개발되어야 한다. 5. 1차년도에 개발된 Robotonomic Tool System의 유연성을 확장시킨다. 실험결과를 바탕으로 공정 자동화 시스템을 확장시킨다. 6. 연마공정자동화에 필수적인 공구 및 공구 Tip의 표준화 및 자동교환장치를 개발한다. 7. 금형연마 Cell의 구성요소들간의 Interface 및 System Controller에서의 집적화를 시킨다.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.111-116
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• 1998

In this study, we try to coincide virtual robot system in an OLP(off-line programming) with actual robot system even though kinematic differences between them are made. The virtual robot in the OLP may be modeled according to kinematics of the actual robot system. However, it is a complicated problem to find exactly all kinematic parameters of actual robot and environment. In this paper, an automated calibration method is proposed In order to find some kinematical parameters which are necessary for the modeling of a robot and environment in the OLP. It is applicable to SCARA robot for assembly task. In this method, a well-marked worktable of environment Is regarded as reference coordinate frame. The robot detects some marks on the worktable through sensors attached to the end-effector. The necessary parameters are calculated from the data of the robot joint variables when the robot detects the mark. The model in the OLP is modified by the parameters.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.248-254
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• 2006

It is necessary to improve the exactness and adaptation of the working environment for the intelligent robot system. The vision sensor have been studied for a long time at this points. However, it has many processes and difficulties for the real usages. This paper proposes a visual servoing in the virtual environment to support OLP(Off-Line-Programming) path compensation and supplement the problem of complexity of the old kinematical calibration. Initial robot path could be compensated by pixel differences between real and virtual image. This method removes the varies calibrations and 3D reconstruction process in real working space. To show the validity of the proposed approach, virtual space servoing with stereo camera is carried out with WTK and openGL library for a KUKA-6R manipulator and updated real robot path.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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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 ...

• Journal of Korean Institute of Industrial Engineers
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• v.22 no.3
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• pp.499-515
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• 1996

The basic function of on industrial robot system is to move objects in the workspace fast and accurately. One difficulty in performing this function is that the path of robot should be programmed to avoid the collision with obstacles, that is, tools, or facilities. This path planning requires much off-line programming time. In this study, a SOM technique to find the collision-free path of robot in real time is developed. That is, the collision-free map is obtained through SOM learning and a collision-free path is found using the map in real time during the robot operation. A learning procedure to obtain the map and an algorithm to find a short path using the map is developed and simulated. Finally, a path smoothing method to stabilize the motion of robot is suggested.