• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.4
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• pp.8-14
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• 2008

This paper aims at finding out dominant robot configurations with maximal position errors, which can be attributed to the parameter errors, by using Monte-Carlo simulation for error analysis of a 3-axis SCARA(Selective Compliance Assembly Robot Arm) type robot. In particular, the Monte-Carlo simulation is used for virtually measuring on the position errors, instead of physical measurement. In order to measure the observability of the model parameters with respect to a set of robot configurations, we propose the observability index which is defined as the product of singular values for error propagation matrices. Thus the index can be used for discriminating dominant robot configurations from a set of simulated ones in conjunction with standard deviation of positional errors, This paper analyzed error by robot positional error.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1031-1035
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• 1993

In this paper, we suggest a new algorithm diminishing the chattering in sliding mode control by setting a dead-band along the switching line on the phase plane although nonlinear terms of an nonlinear system are regarded as disturbances and apply this algorithm to the trajectory control of SCARA robot By this algorithm, we can expect the high performance of the trajectory trajet of an industrial robot which needs a robust and simple algorithm.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.612-618
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• 2009

This study is concerned about the optimal design of the arm 1 and arm 2 in the SCARA robot. The mass and inertia moment of the arm I and arm 2 in a SCARA robot is greatly affected on the performance such as a cycle time, and torques loaded on $1^{st}$ axis and $2^{nd}$ axis. To reduce the mass and inertia moment, this study carried out optimal design by FEM analysis using parametric variables, which is a width, a height of the rib and a thickness of arm in the arm. The rib is adapted instead of reducing the thickness in the arm. And the simulation by computer was conducted on two given paths in X direction and Y direction. After optimal design, the result showed that maximum torque of $1^{st}$ axis and $2^{nd}$ axis reduced to maximum 9.5% on a given path.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.728-733
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• 2009

This paper presents the compensation of mechanical deflection error in SCARA robot. End of robot gripper is deflected by weight of arm and pay-load. If end of robot gripper is deflected constantly regardless of robot configuration, it is not necessary to consider above mechanical deflection error. However, deflection in end of gripper varies because that moment of each axis varies when robot moves, it affects the relative accuracy. I propose the compensation method of deflection error using neural network. FEM analysis to obtain the deflection of gripper end was carried out on various joint angle, the results is used in neural network teaming. The result by simulation showed that maximum relative accuracy reduced maximum 9.48% on a given working area.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.2
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• pp.154-161
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• 2009

In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.227-232
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• 1998

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot 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 off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.398-403
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot 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 off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.188-193
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• 2000

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot 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 off-line program system in the Windows 95' graphic user interface i\environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, y Silicon Graphics, Inc. were utilized for 3D graphics.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.3
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• pp.21-27
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• 2002

In this paper, we have developed a Widows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. The SCARA robot with four joints (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 Widows 98's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic 1ibraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.