• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.171-174
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• 1997

The great development of semiconductor industry demands the high efficiency and performance of related device, but the pick and place system of semiconductor packaging device can load a few units until nowdays. Although the system can load a lot of units, it can work multiple sort operation. The defect like that causes a low efficiency. Therefore, this paper represents the development of pick and place system which can work multiple sort operation.

• Journal of IKEEE
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• v.24 no.3
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• pp.735-742
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• 2020

The pick & place module is used as a core module in the process equipment for producing and inspecting semiconductor components. The conventional pick & place module has the disadvantage that the precision and durability of the system are reduced and the size and weight of the module are increased by using a conversion device that converts rotary motion into linear motion. In this study, we proposed a pick & place module that implements up-and-down linear motion without a conversion device by improving such disadvantage and employs a linear motor with no limit on average thrust and travel distance. Design parameter values, that can reduce cogging force while maintaining average thrust by selecting parameters for designing a core type linear motor with a large thrust to volume ratio and analyzing the effect of cogging force according to design parameter changes through magnetic analysis, was selected. Average thrust and cogging force were measured for the pick & place module composed of the manufactured linear motor and compared with the design values.

• Proceedings of the Korean Society of Computer Information Conference
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• 2018.01a
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• pp.53-54
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• 2018

본 논문은 ROS 프레임워크를 기반으로 4-자유도를 가진 로봇 팔의 Pick-and-Place 동작 제어를 구현하고, 틱택토 게임에 적용한 사례를 제시한다. 로봇 팔의 Pick-and-Place 동작 제어는 움직임 궤적 계획, 충돌 회피 그리고 역기구학 모델링 연산들과 이를 이용한 복잡한 제어 과정을 요구한다. ROS 프레임워크는 간단한 인터페이스 통해 로봇 팔의 동작을 용이하게 제어할 수 있도록 일련의 연산들과 제어 동작을 통합하여 MoveIt 패키지를 제공하고 있으며, 본 논문은 이 패키지를 기반으로 4-자유도의 로봇 팔에 대한 동작 제어 모듈을 구현하였다. 또한 이를 틱택토 게임에 적용하여 로봇 팔을 적절히 제어함을 확인하였다.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.344-352
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• 2011

A mobile manipulator is a system with a robotic manipulator mounted on top of a mobile base. It has both indoor and outdoor applications for transporting or transferring materials. When a user gives commands, they are usually at high levels such as "move the object to the table," or "tidy the room." By intelligently decomposing these complex commands into several subtasks, the mobile manipulator can perform the tasks with a greater efficiency. One of the crucial subtasks for these commands is the pick-and-place task. For the mobile manipulator, selection of a good base position and orientation is essential to accomplishing this task. This paper presents an algorithm that determines one of the position and orientation of a mobile manipulator in order to complete the pick-and-place task without human intervention. Its effectiveness are shown for a mobile manipulator with 9 degrees-of-freedom in simulation.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.350-356
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• 2020

Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.5
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• pp.451-457
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• 2008

Flat Panel Display(FPD) is widely used a video display terminals to consumer products of LCD and PDP. The contamination and damage were affected by using the previous contact conveyor's method. In this paper, it analyzes the FPD deflection to develop the non-contact FPD transfer process using lift force. Each conveyor's equipment is called a horizontal conveyor, vertical conveyor and robot pick-up equipment. As result of an analysis of FPD panel's deflection, a robot pick-up equipment has performed according to under the present conditions like panel's weight and loaded glass to move FPD panel from one place to other places properly. Results of the analysis showed 0.474 mm, 0.424 mm and 1.237 mm. Those values are lower than a predicted optimum values : 2 mm for both horizontal and vertical conveyers; 5 mm for robot pick-up equipment. Therefore, those results verify each equipment have safety and reliability.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.501-506
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• 1988

This paper describes an experimental system for automatic robot programming, The SNU-ARPS (Seoul National University Automatic Robot Programming System). The SNU-ARPS generates executable robot programs for pick and place operation and some simple mechanical assembly tasks by menudriven dialog. It is intended to enable the user to concentrate on the overall operation sequence instead of the knowledge regarding the details of robot languages. To convert task specifications into manipulator motions, the SNU-ARPS uses an internal representation of the world. This representation initially consists of geometric database from CAD system and is updated at each operation step to reflect the state changes of the world.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.8
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• pp.4815-4820
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• 2014

As semiconductor chips are on a small scale, large content and high integratation, it is essential to develop the device of pick and place at the system of the semiconductor test handler to ensure its high precision and durability. In this study, inspection equipment frame model of a semiconductor test handler picker was investigated by vibration analysis with the property of the natural frequency and harmonic response. As 3 kinds of analysis case models, the device of pick and place was located at the left side (Case 1), the center (Case 2) and the right side (Case 3) of the upper guideline. The range of natural frequencies until the 6th order on this frame model ranges from 80Hz to 500Hz. As the analysis of the harmonic response when the frame is resonant, Case 2 showed the maximum equivalent stress of 52.802 MPa more than Cases 1 or 3. Case 2 was the most intensive among the three cases. Using the analysis result of this study, the design of the frame model, which can be applied to the safe working environment of the system is believed to be possible.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_2
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• pp.249-254
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• 2023

The use of robots in automated factories requires accurate bin-picking to ensure that objects are correctly identified and selected. In the case of atypical objects with multiple reflections from their surfaces, this is a challenging task. In this paper, we developed a random 3D bin picking system by integrating the low-cost vision system with the robotics system. The vision system identifies the position and posture of candidate parts, then the robot system validates if one of the candidate parts is pickable; if a part is identified as pickable, then the robot will pick up this part and place it accurately in the right location.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.8
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• pp.1043-1050
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• 2013

Parallel robots used in industry require high stiffness or high speed because of their structural characteristics. Nowadays, the importance of rapid transportation has increased in the distribution industry. In this light, an industrial parallel robot has been developed for high-speed transfer. The developed parallel robot can handle a maximum payload of 3 kg. For a payload of 0.1 kg, the trajectory cycle time is 0.3 s (come and go), and the maximum velocity is 4.5 m/s (pick amp, place work, adept cycle). In this motion, its maximum acceleration is very high and reaches approximately 13g. In this paper, the design, analysis, and performance test results of the developed parallel robot system are introduced.