• 한국정밀공학회지
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• 제33권8호
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• pp.647-654
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• 2016

Controlling a mobile robot using conventional control devices requires skill and experience, and is not intuitive, especially in complex environments. For human-mobile robot cooperation, the direct-teaching method with impedance control has been used most frequently in complex environments. This thesis proposes a new direct-teaching method for a mobile robot utilizing variable impedance control. This includes analysis of user intention, which is changed by force and moment. A fuzzy inference technique is proposed in this thesis for identification of user intension. The direct teaching of a mobile robot based on variable impedance control through fuzzy inference is experimentally verified by comparing its efficiency to that of the conventional impedance control-based direct teaching of a mobile robot. Experimental data, such as the total time consumed, path error time, and the total energy used by the user, were recorded. The results showed that the efficiency of variable impedance control was increased.

• International Journal of Precision Engineering and Manufacturing
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• 제1권1호
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• pp.118-126
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• 2000

Die-casting burr to casting process is removed by post-process for assembly and quality control of product. Though robot has been widely used for deburring job before. CNC exclusive machine is currently developed for high power, high speed machining and quick tool change. Deburring tool path with complex 3D curve type is defined to make out deburring NC program. But there is no efficient method to define it currently used methods with teaching probe on machine. In this study the efficient method to make out deburring NC program is developed. 5-axis digitizing machine is used to receive data of deburring path. And the post process for NC program generation is developed in consideration of the machining conditions. The developed system is not dependent on the skill of operator and has the advantage to maintain the flexibility of job to modify NC program due to the wear of tool and aging of the die casting.

• 한국정밀공학회지
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• 제17권1호
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• pp.93-100
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• 2000

Die-casting burr due to casting process is removed by post-process for assembly and quality control of product. Though robot has been widely used for deburring job before, CNC exclusive machine is currently developed f3r high power, high speed machining and quick tool change. Deburring tool path with complex 3D curve type is defined to make out deburring NC program. But there is no efficient method to define it currently used methods with teaching probe on machine. In this study the efficient method to make out deburring NC program is developed. 5-axis digitizing machine is used to receive data of deburring path. And the post processor for NC program generation is developed in consideration of the machining conditions. The developed system is not dependent on the skill of operator and has the advantage to maintain the flexibility of job to modify NC program due to the wear of tool and aging of the die casting.

• 한국정밀공학회지
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• 제17권8호
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• pp.189-197
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• 2000

This paper addresses that the autonomous mobile robot with the function of teaching a moving path by speech and avoiding a collision is developed. The use of human speech as the teaching method provides more convenient user-interface for a mobile robot. In speech recognition system a speech recognition algorithm using neural is proposed to recognize Korean syllable. For the safe navigation the autonomous mobile robot needs abilities to recognize a surrounding environment and to avoid collision with obstacles. To obtain the distance from the mobile robot to the various obstacles in surrounding environment ultrasonic sensors is used. By the navigation algorithm the robot forecasts the collision possibility with obstacles and modifies a moving path if it detects a dangerous obstacle.

• 한국정밀공학회지
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• 제14권5호
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• pp.42-52
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• 1997

Computer aided process planning and Offline programming are decisive factors in successful implementation of automated robotic production. However, conventional offline programming procedure has proven ineffective due to time-consuming teaching process for robot programming and due to inefficient system modeling. The paper presents an efficient procedure to semi-automatically generate robot job programs for ship block welding applications. In the research, the teaching positions are automatically determined by predefined rules which are functions of the type and the dimensions of the given welding section of ship block. And a sequence of robot movements and welding conditions such as welding type, welding current, welding speed, and welding torch orientation, are determined by use of Standard Program which is experimentally proved to work well for the welding wection group. Finally, a robot program for the welding section is generated automatically. Based on the algorithm, a offline automatic teaching software is developed. The paper presents also the algorithm and structure of the software.

• 한국산학기술학회논문지
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• 제15권1호
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• pp.256-263
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• 2014

본 연구의 목적은 교수자의 교수 스타일과 교육경험이 수업분석에 미치는 영향을 확인해 보는데 있다. 이를 통해 해당 요인들이 수업을 바라보는 관점에 차이가 있는지 확인할 수 있으며, 교육현장에서 교사들이 수업비평과 수업분석을 바라보는 분석관점의 차이를 확인할 수 있다. 연구대상은 초등학교에 근무하는 교사 198명을 대상으로, 교수 스타일을 분류하였다. 자료처리는 교육경험에 해당하는 교직경력을 확인하여 공변인으로 두고, 각각 교수 스타일에 따라 수업 분위기를 분석하는 관점의 차이를 확인하였다. 연구결과 수업분위기 분석의 요인인 창의성, 활기성, 치밀성, 온화성의 4가지 항목에서 유의한 차이를 나타냈다. 수업분위기 분석에서 교수 스타일 중 전문성은 동일한 수업에서 창의성에 높은 점수를 부여했으며, 촉진자 스타일은 활기성에 가장 높은 점수를, 역할모델은 치밀성에 가장 높은 점수를, 촉진자와 역할모델은 온화성에 가장 높은 점수를 부여했다. 반면 권위적인 스타일과 위임자 스타일은 전체적인 수업분위기에서 가장 낮은 점수를 부여하는 것으로 나타났다. 이는 교수 스타일에 따라 수업을 분석하는 관점이 다르며, 전문가, 역할모델, 촉진자 스타일이 수업분석에 있어 반성적인 성찰과 허용적인 인식을 통해 분석하려는 의도가 비교적 강한 것으로 볼 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.283-284
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• 2013

• Journal of Welding and Joining
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• 제21권7호
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• pp.21-26
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• 2003

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.122-122
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• 2000

Polishing work of a free-curved surface die demands simple and repetitive operations but requires a considerable amount of time for high precision. In out previous study, to reduce the polishing time and solve the problem of the shortage of skilled workers, the automatic polishing system was developed. However, in the polishing process of die, workers have to stay still in factory to monitor the polishing process for a long time in the poor environment. Therefore, this study proposes the remote operation and monitoring system of the automatic polishing robot. The developing system offer worker monitoring functions and teleoperating functions, as following: system state check, manual manipulation mode, automatic mode, manual teaching mode, automatic teaching mode, simulation by virtual manufacturing device. And automatic teaching system is developed to easily obtain a teaching data.

• 한국정밀공학회지
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• 제30권6호
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• pp.615-621
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• 2013

The robot calibration has greatly improved the absolute accuracy of the industrial robot. However, the accuracy of the relative positions of robotic tool-tip at work-points on a work-piece is only slightly corrected by the robot calibration since there has been no practical method to eliminate the elements of the setup position errors at a robotic workplace. A robotic workplace calibration is demonstrated in this paper to minimize the relative position errors between a robot tool-tip and the work-point on a work-piece. The existing teaching and playback method has been developed for the robotic workplace calibration. This paper uses the work-piece fixed in a robotic work-place as measurement equipment instead of a special robot measurement equipment for the robotic workplace calibration. The positive effect of the robotic workplace calibration is supported by the results of computer simulation on an ideal robotic workplace model and an experiment at the actual robotic workplace.