• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.62-72
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• 1997

High flexibility and productivity using industrial robots are being achieved in manufacturing lines with off-line robot programmings. A good off-line programming system should have functions of robot modelling, trajectory planning, graphical teach-in, kinematic and dynamic simulations. Simulated results, however, can hardly be applied to on-line tasks until any calibration procedure is accompained. This paper proposes a visual calibration scheme in order to provide a calibration tool for our own off-line programming system of SCARA robots. The suggested scheme is based on the position-based visual servoings, and the perspective projection. The scheme requires only one camera as it uses saved kinematic data for three-dimensional visual calibration. Predicted images are generated and then compared with camera images for updating positions and orientations of objects. The scheme is simple and effective enough to be used in real time robot programming.

• The Journal of Korean Association of Computer Education
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• v.12 no.1
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• pp.45-55
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• 2009

The purpose of this study was to examine the possibility of development of flow level and problem-solving ability by Using robots in the programming classes. For this purpose, a course has been developed which consists of (1) strategies to motivate students and to improve flow level (2) Creative Problem Solving (CPS) teaching model to improve their problem solving abilities. We experimented the course with 30 second-grade middle school students and we could observe that the robot programming learning considered gender differences helps improving their problem solving abilities and flow level. Specially, the group of the female student was greater improvement than the group of the male student on flow level.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.10a
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• pp.477-480
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• 2012

In this study an programming instruction robot system using smart phone was designed and development. The system In this study is by direct programming using smart phone and program written using smart phone through a bluetooth module behavior is to be transferred to the robot control circuit. In this places, without the constraints of the robots in education and training means you can the robot's motion and, therefore, the results of students of programming through a smartphone is beyond the limits of the existing educational programming education.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.5
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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.

• Journal of Intelligence and Information Systems
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• v.15 no.3
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• pp.17-29
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• 2009

C programming is a main programming for the Educational Robot Arm which is based on AVR ATmega128. The development environment is not integrated, so it is complex and difficult to study for middle or high school students who want to learn programming and control the educational robot arm. Furthermore, there is no debug and testing environment support. This paper presents a Java-based development platform for the educational robot arm. This platform includes: an up-to-date tiny Java Virtual Machine (NanoVM) for the educational robot arm; An Eclipse based Java integrated development environment as an Eclipse plug-in; a 3D simulator on the PCs to support testing and debugging programs without real robots. The Java programming environment makes development for educational robot arm easier for students.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.543-548
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• 2000

In this study, an interactive programming method for robot in electronic part assembly task is proposed. Many of industrial robots are still taught and programmed by a teach pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and play back repetitively to perform robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and downloaded to the robot controller. This teaching process is implemented through an off-line programming software. The OLP is developed for an robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on an assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line teaching in the system.

• Journal of The Korean Association of Information Education
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• v.19 no.1
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• pp.31-44
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• 2015

In general, female students are revealed through a number of studies so far by low interested in programming education. In this study, we presented a robot programming education program in the process of programming education for creativity kidney of elementary school girls. By analyzing the information gifted class 5, 6 grade robot curriculum, and selected a topic, which was take advantage of the Arduino and EV3, it has developed a robot programming education program. The selected information gifted class 5, 6 grade girls for analyzing the educational effect of education program that has been developed as an experimental population was charged with the developed program and analyzing the results of the pre- and post-test. The results of the analysis, education program that was developed in this study it was found that help in creativity kidney of elementary school girls.

• Journal of The Korean Association of Information Education
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• v.14 no.4
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• pp.619-626
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• 2010

In this study, we performed experimental studies on the educational programming languages of Dolittle and Robot to compare and analyze their effect on improving creativity. We formed three sixth grade classes, totaling 99 students, into a Robot class, a Dolittle class, and a general class that served as a neutral. The Dolittle class and the Robot class took ten programming lessons with specific hand-in operations, as well as feedback and discussion, during ten weeks. The experiment results showed that student creativity in the two programming classes improved more than that of students in the general class. Especially creativity of the students in the Robot class improved the most. Moreover, the mean creativity of the lower academic achievement group was slightly better than that of the higher group. This implies that there is no positive correlation between academic achievement and creativity.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1840-1843
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• 1997

The task environment of a robot is changing rapidly and task itself becomes complicated due to current industrial trends of multi-product and small lot size production. A convenient user-interfaced off-line programming(OLP) system is being developed in order to overcome the difficulty in teaching a robot task. Using the OLP system, operators can easily teach robot tasks off-line and verify feasibility of the task through simulation of a robot prior to the on-line execution. However, some task errors are inevitable by kinematic differences between the robot model in OLP and the actual robot. Three calibration methods using image information are proposed to compensate the kinematic differences. These methods compose of a relative position vector method, three point compensation method, and base line compensation method. To compensate a kinematic differences the vision system with one monochrome camera is used in the calibration experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.502-507
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• 1990

The robot operation by teach playback is easy and was widely used for simple jobs performed by a simple robot manipulator. However, as robots and their control systems and tasks become more and more sophisticated, such a simple robot operation is no longer adequate and programming languages capable for the complicated systems and tasks are greatly needed. In this paper, a high-level robot-specific programming language, SAITEL, is presented. It is an interpreter, based on Assembly, and has form similar to BASIC. SAITEL is easy to use for people who are not skilled programmers, and provides the capability to define robot task very conveniently. SAITEL was implemented on a direct drive SCARA robot developed in the Samsung Advanced Institute of Technology, and proved to be very useful for the operation of SCARA-type robots. It can be used also for other types of robots by slight modification.