• 대한기계학회논문집A
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• 제32권5호
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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.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제16권3호
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• pp.216-223
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• 2016

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

• 한국생산제조학회지
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• 제21권4호
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• pp.563-569
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• 2012

In the semiconductor and display device production processes, the handling of sensitive objects needs new carrying technology. Floating carrying motion is a practical alternative solution for non-contact handling of parts and substrates. This paper presents a study of through paths inside the air pressure pick-up head to generate the floating motion. The air motion by conceptual designed paths inside the head gradually develops positive pressure and vacuum between narrow objects. Positive pressure occurs through the head tip before discharging outside of the head. Negative pressure is developed by evacuating the inside head bottom as result of the radial flow connecting the vertical through-holes. The numerical analysis was done to figure out the stable levitation caused by the two acting forces between surfaces. In comparing with the standard case that the levitation gap gets 0.7-0.9 mm, it confirms the suggested head characteristics to show floating capacity in accordance with the head size, number of through-hole, and locations of through-hole in succession of conceptual design for a prototype.

• 한국정밀공학회지
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• 제13권9호
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• pp.104-113
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• 1996

In robot system, the robot manipulation needs the information of task and objects to be handled in possessing a variaty of positions and orientations. In the current industrial robot system, determining position and orientation of objects under industrial environments is one of major problems. In order to pick up an object, the roblt needs the information about the position and orientation of object, and between objects and gripper. When sensing is accomplished by pinhole model camera, the mathematical relationship between object points and their images is expressed in terms of perspective, i.e., central projection. In this paper, a new approach to determine the information of the supporting points related to position and orientation of the object using the robot vision system is developed and testified in experimental setup. The result will be useful for the industrial, agricultural, and autonomous robot.

• 한국산학기술학회논문지
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• 제14권6호
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• pp.3023-3031
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• 2013

본 논문에서는 물류회사에서 수작업으로 이루어지던 물류 배달 구분 작업을 자동화하기 위한 로봇 제어 정보 관리 시스템을 제안한다. 제안한 로봇제어 정보 관리시스템은 3D 영상인식장치로부터 소포의 가로, 세로, 높이, 집는 윗면의 형태 등 소포 형상정보와 무게, 놓여 진 위치, 부대 정보를 기록한 바코드 등의 소포 상황 정보를 넘겨받아서 로봇 매니퓰레이터의 픽업 제어정보와 드롭 제어정보를 생성하여 로봇제어정보를 보내준다. 로봇 매니퓰레이터는 물류 정보에 따른 픽업제어 정보와 드롭 제어정보를 넘겨받아 소포 픽업과 배달 위치에 따른 파레트에 해당물류를 드롭 할 수 있게 된다. 제안된 물류배달을 위한 로봇 제어 정보 관리 시스템은 수작업으로 처리되었던 물류배달 순서 구분 작업을 자동화함으로써 물류 배달에 있어 시간과 비용을 절감시키고 산업재해를 예방하는데 크게 기여하게 될 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1488-1491
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• 1996

Throughout CGL(Continuous Galvanizing Line) in steel works, zinc-coated steel sheets are produced which are used where long-running corrosion resistivity is required. During the galvanizing process, top dross is created and floated on the zinc pot. Because the dross leaves ill patterns on the coated sheets, it is removed manually with shovel-like tools in about twenty minutes. Because, however, the working environment is very noisy, hot and harmful to human workers, a robot system is developed and implemented on a real plant to automatically remove the top dross. It consists of a robot and its carriage system, a pot level sensor, a system controller, and special tools to collect, pick up, and put the top dross into a dross waste basket. A system software is developed to monitor the system status. A series of tests were performed to verify the robot motion and adaptation to working conditions, and proved successful work.

• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.107-113
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• 2010

In this paper, a prototype of cooperative work model for multi-robots system is introduced and the evolutionary approach is applied to generate the motions for the cooperative works of multi-robots system using genetic algorithm. The cooperative tasks can be performed by a humanoid robot and a mobile robot to deliver objects from shelves. Generation of the humanoid motions such as pick up, rotation, and place operation for the cooperative works are evolved. Modeling and computer simulation for the cooperative robots system are executed in Webots environments. Experimental results show the feasible and reasonable solutions for humanoid cooperative tasks are obtained.

• 대한기계학회논문집A
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• 제24권4호
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• pp.848-857
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• 2000

A pick-and-place operation in 3-dimensional environment is basic operation for human and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final pose of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information of kinematically feasible task space of end-effector through all the workspace. Then, using the table planning automatically determines possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. Experiments show that the presented is complete in the total workspace. The regrasp planner was combined with existing path.

• 한국정밀공학회지
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• 제12권9호
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• pp.156-166
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• 1995

This paper presents a bin picking method using a slit beam laser in which a robot recognizes all of the unoccluded objects from the top of jumbled objects, and picks them up one by one. Once those unoccluded objects are removed, newly developed unoccluded objects underneath are recognized and the same process is continued until the bin gets empty. To recognize unoccluded objects, a new algotithm to link edges on slices which are generated by the orthogonally mounted laser on the xy table is proposed. The edges on slices are partitioned and classified using convex and concave function with a distance parameter. The edge types on the neighborhood slices are compared, then the hamming distances among identical kinds of edges are extracted as the features of fuzzy membership function. The sugeno fuzzy integration about features is used to determine linked edges. Finally, the pick-up sequence based on MaxMin theory is determined to cause minimal disturbance to the pile. This proposed method may provide a solution to the automation of part handling in manufacturing environments such as in punch press operation or part assembly.

• IEIE Transactions on Smart Processing and Computing
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• 제3권4호
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• pp.195-204
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• 2014

This paper presents the depth evaluation for object detection by automated assembling robots. Pattern distortion analysis from a structured light system identifies an object with the greatest depth from its background. An automated assembling robot should prior select and pick an object with the greatest depth to reduce the physical harm during the picking action of the robot arm. Object detection is then combined with a depth evaluation to provide contour, showing the edges of an object with the greatest depth. The contour provides shape information to an automated assembling robot, which equips the laser based proxy sensor, for picking up and placing an object in the intended place. The depth evaluation process using structured light for an automated electronics assembling robot is accelerated for an image frame to be used for computation using the simplest experimental set, which consists of a single camera and projector. The experiments for the depth evaluation process required 31 ms to 32 ms, which were optimized for the robot vision system that equips a 30-frames-per-second camera.