• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1999.10a
• /
• pp.565-570
• /
• 1999

In this paper, we developed a windows 95 version Off-Line Programming system which can simulate a Robot model in 3D Graphics space. 4axes SCARA Robot (especially FARA SM5) 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 OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.12
• /
• pp.30-47
• /
• 1997

This paper encompasses a general technology in robot deburring automation using solid rotaing burr tools. Deburring is a cumbersome area in finishing technology, where design concept and system implementation is based on knowhows and experiences rather then theoretical development. In the field engineering it is diffcult to find a clue to where and how to start the system design. This paper presents a guide inselection of tool concept of geometry and material. Also, the concept of tool compliance system is introduced, which is one of the most important factor in robot deburring. Typical problems encountered in the field are classified into 20 categories and the solutions are suggested by the proven technology from the expertise. Special problems in polymer and diecasting areas are also briefly mentioned.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.295-298
• /
• 1988

For the automation of the manual soldering process through robot technology, two main tasks have to be achieved: Control of various soldering parameters and realization of flexible tool movements like human hands. In this paper a method for attaining these tasks is presented and analyzed.

• The Journal of Korean Association of Computer Education
• /
• v.16 no.4
• /
• pp.13-21
• /
• 2013

Recently, programming education is being actively performed in education field with development of educational programming language and teaching and learning methods for elementary students. However, programming education have limit to apply to the overall computer science curriculum, because it is performed by more than 5th grade and focused on the utilization of programming tools than problem-solving process. It is necessary to expand the range of students and educational content considered with problem-solving process for encouraging programming education in computer science. In this study, we suggest the easy-to-use programming tool for lower grade(1st grade) and robot programming task based on improvement of student's thinking ability. We use Tangible User Interface(TUI) for elementary student's(1st grade) convenience of programming and developed the robot programming task for improvement of logical thinking. As a result of this experiment, tangible programming tool can be used easily in elementary students(1st grade) and developed robot programming task is effective in improvement of logical thinking.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.11 no.6
• /
• pp.127-134
• /
• 2008

An autonomous reconnaissance ground robot performs its duty in various different environments such as mountain-scape, desert and under-water through changing its shape and form according to the environment it is working in. Making a prototype robot for each environment requires extra cost and time. It is also difficult to modify the problem after production. In this paper, we propose the adoption of M&S(Modeling & Simulation) environment for the production and design of the autonomous reconnaissance ground robot. The proposed method on the M&S environment contributed to the more effective and less time consuming production of the robot through the Pre-Modeling and Pre-Simulation process. For example, we showed the design and implementation of the autonomous reconnaissance ground robot under the proposed environment and tools.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.11 no.6
• /
• pp.31-37
• /
• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.13 no.2
• /
• pp.165-170
• /
• 2013

This paper proposes a method of simplification for robot simulation creation using functional concise script. General robotics simulation authoring tools require professional knowledge regarding development language and their APIs, and these prerequisites are considered as a big obstacle in implementing robotics simulation. In order to resolve these problems, we developed an authoring tool using functional concise script in building simulation environment, and this concise script composes of simplified service commands and minimum options. In experiment, we educated students and teachers in High school to use this authoring tool and we verified that the proposed method makes it possible to build robotics simulation environment and control simulated robots through one-day training course for the novices.

• The Journal of Korea Robotics Society
• /
• v.12 no.2
• /
• pp.107-115
• /
• 2017

In this paper, four-bar linkage mechanism for the knee joint is developed which is used in prosthetics. But unlike the prosthetics, the feature of this mechanism is that the instantaneous center of rotation of the four-bar linkages can be moved behind the ground reaction force vector so that it can be passively supported without any external power. In addition, this mechanism is developed similar to the structure of the human knee joint for eliminating the sense of heterogeneity of the wearer. In order to design the mechanism with these two objectives, optimization design process is done using the PIAnO tool and detailed design is carried out through optimized variable values. The developed mechanism is attached to the robot which can assist the hip and ankle joints. In order to verify the operation of the developed knee mechanism, an insole type sensor was attached to the shoes to compare data values before and after wearing the robot. Result data showed that wearer wearing the exoskeleton robot with the knee mechanism was the same value regardless of whether the heavy tool is loaded or not.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.346-351
• /
• 1998

Cutting process has been automated due to progress of CNC and CAD/CAM, but polishing process has been only depended on experiential knowledge of expert. Polishing work for a curved surface die demands simple and repetitive operations but requires much time for its high precision. Therefore it is operated in the handiwork by skilled worker. However the workers intend to avoid gradually polishing work because of the poor environments such as dust and noise. In order to reduce the polishing time and solve the problem of shortage of skilled workers, it has been done some research for an automation of polishing. To automate the polishing process, a 2 axes polishing robot which is attached to a 3 axes machining center has been developed by our previous research. This automatic polishing robot is able to keep the polishing tool normal on the curved surface of die. Therefore its performance of polishing is improved because of always keeping the tool normal on the surface. In this paper, the smaller sized polishing robot is developed to improve polishing performance. And the controller for 2 axes polishing robot is developed. The controller is composed of TMS320C31 with high speed which is 40-ns instruction cycle time, RAM memory with 64K words, digital input with 64 bits, digital output with 32 bits, and D/A converter with 4 channels, which is 12 bits resolution. To evaluate polishing performance of this developed robot, polishing experiment for shadow mask was carried out.

• Nuclear Engineering and Technology
• /
• v.50 no.4
• /
• pp.613-618
• /
• 2018

We are developing a shared remote control mobile robot for aerial work in nuclear power plants (NPPs); a robot consists of a mobile platform, a telescopic mast, and a dual-arm slave with a working tool. It is used at a high location operating the manual operation mechanism of a fuel changer of a heavy water NPP. The robot system can cut/weld a pipe remotely in the case of an emergency or during the dismantling of the NPP. Owing to the challenging control mission considering limited human operator cognitive capability, some remote tasks require a shared control scheme, which demands systematic software design and integration. Therefore, we designed the architecture of the software systematically.