• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.206-210
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• 1989

In automobile glass fitting the stud is welded on the window seating panel in order to insert the plastic molding onto the stud. Since this type of process is in general manually done, almost 50% of the output turns out to be failure resulted from work inefficiency and weld inferiority. Therefore, it is required to improve this process for the productivity elevation through the application of the robot.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.965-970
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• 1992

A dynamic modeling and analysis for the Stewart platform type of parallel robot is addressed. The dynamic modeling is performed based on the method of Kinematic Influence Coefficients(KIC) and transfering of the generalized coordinates. The optimum geometric configurations of the system that minimize the actuating forces at the linear actuator are found for several trajectories by using the optimization technique.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.379-379
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• 2000

The robot systems used in nuclear power plants need to be both reliable and safe. As a part of the "Validation of nuclear safety-grade equipment" project, we established reliability analysis program and performed a number of analysis using conventional reliability analysis techniques. This paper describes the procedures, techniques, and results of the analysis utilized in our project. In addition, the paper includes current status of reliability analysis techniques and the summary of foreign case studiesse studies

• International Journal of Safety
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• v.6 no.1
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• pp.1-6
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• 2007

Operation of human-centered robot, in general, facilitates the creation of new process that may potentially harm the human operators. Design of safety-guaranteed operation of human-centered robots is, therefore, important since it determines the ultimate outcomes of operations involving safety of human operators. This study discusses the application of geometric tolerance and head injury criteria to safety assessment of human-centered robotic operations. Examples show that extending "Work Area" has more significant effect on the uncertainty in safety than extending the system range in the presence of velocity control.

• Proceedings of the Korean Society of Computer Information Conference
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• 2019.01a
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• pp.255-256
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• 2019

본 논문에서는 물체를 집기(picking) 위해 필요한 깊이 값을 특수카메라인 리얼센스를 사용하여 받아와서 2D 카메라로는 하지 못하는 로봇 팔 피킹 시스템을 구현하였다. 객체 인식은 텐서플로우 객체 검출 라이브러리를 사용하여 정확도를 높였고, ROS 기반의 rviz, moveit, gazebo 등의 패키지를 사용하여 아두이노와 통신하며 로봇팔 하드웨어로 인식된 객체를 피킹하는 시스템을 구현하였다.

• Journal of The Korean Association of Information Education
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• v.24 no.1
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• pp.99-106
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• 2020

In this paper, we analyzed the units related to robot education in the Practical Arts textbooks according to the 2015 revised curriculum. As a result, all textbooks had a common system of introduction, development, and organization, and all of them showed a similar flow. Learning objectives were presented in all textbooks, but no affective goals were presented except cognitive and functional goals. The contents of robot learning suggest the meaning and type of robots, the structure and sensors of robots, and the activities of making robots, but the contents of robot ethics, the production and activities of various robot works, and the use of robots in the problem solving process are not presented. The assembly robot and the infrared sensor are used in common, and it consists of presenting robot production and control training materials in experience activities and arranging units through evaluation, and the A, C, and F textbooks also provide the unit auxiliary data. In the future, it will be necessary to include the contents of robot ethics education centered on the design/manufacturer and user-oriented robot ethics such as the recognition of the limits of robots, the principles of using robots correctly, safety education, personal information and privacy protection.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.517-517
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• 2000

Welding automation is one of the most important manufacturing issues in shipbuilding in order to lower the cost, increase the quality, and avoid the labor problems. Generally the on-line teaching is utilized on the robot that is used in the welding automation system, but it requires much effort and long time to program. Especially, if the system is composed of more than two cooperating robots, it demands much more skill to program the robots' motion. Thus, a convenient programming tool is required for efficient utilization of welding automation system. In this study, a convenient programming tool is developed for welding automation in which gantry-robot system is used. The system is composed of a gantry transporter and two robots mounted on the gantry to cover the wide work range in the ship building application. As a programming tool, an off-line programming software based on PC is developed. By using this software, field operator does not need to concern about coding of task programs for three control units, one is for gantry and two are for robots. The task programs are automatically generated by assembling the program modules in database according to geometrical information of workpiece and welding condition, which become the only concern of field operator, The feasibility of the generated programs can be verified via a motion simulator previously to on-line running.

• Journal of the Korean Society for Precision Engineering
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• v.6 no.2
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• pp.65-76
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• 1989

The objective of this paper is to design the variable structure system(VSS) controller for the tracking control of excavator which is driven by electro-hydraulic servomechansim. It is generally agreed that the dynamic characteristics of the robot arm such as excavator are coupled, time varying, and highly nonlinear, and also hydraulic system contains nonlinear characteristics in itself, so performing exact position control and trajectory tracking control need remarkable consideration. To solve this porblem, this system was designed as a variable structure system. The salient feature of VSS is that the sliding mode occur on a switching surface. While in sliding mode, the system remains insensitive to parameter variations and disturbances. This control algorithm was applied to a hydraulic excavator by simulaltion and to a simulator by experiment. And its effectiveness was verified. And the results of VSS for the electro-hydraulic excavator was compared with that of the PID when load disturbances and system parameter variations exist.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.64-72
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• 2004

An extension of interaction matrix formulation to the problem of system and disturbance identification for a plant that is corrupted by both process and output disturbances is presented. The teaming control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of loaming control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot moving on the vertical plane with the controller for each link acting independently. The basic result of the paper is to show that stability and iterative precision of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized teaming in the coupled system, provided that the sample time in the digital teaming controller is sufficiently short. The methods of teaming system are shown up for the iterative precision of each link.