• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.54-60
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• 2014

The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.95-102
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• 2004

It is necessary to improve the exactness and adaptation of the working environment in the intelligent robot system. The vision sensor have been studied for this reason fur a long time. However, it is very difficult to perform the camera and robot calibrations because the three dimensional reconstruction and many processes are required for the real usages. This paper suggests the image based visual servoing to solve the problem of old calibration technique and supports OLP(Off-Line-Programming) path compensation. Virtual camera can be modeled from the real factors and virtual images obtained from virtual camera gives more easy perception process. Also, Initial path generated from OLP could be compensated by the pixel level acquired from the real and virtual, respectively. Consequently, the proposed visually assisted OLP teaching remove the calibration and reconstruction process in real working space. With a virtual simulation, the better performance is observed and the robot path error is calibrated by the image differences.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.121-128
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• 2016

A furan mold design and machining system for marine propeller casting was developed. In general, a large marine propeller is produced by casting in a foundry, where the upper and lower molds are constructed of cement or other materials like furan. Then, the cast workpiece is machined and manually ground. Currently, furan mold construction requires a series of manual tasks. This introduces a fairly large amount of stock allowances, which require a considerable number of man-hours for later machining and grinding, and also increase the work processes. A mold design and off-line robot programming software tool with a six-axis robot hardware system was developed to enhance the shape accuracy and productivity. This system will be applied in a Korean ship building company.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.24-33
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• 1990

Since a number of welding points are distributed in an automobile part, the number of welding points alloted to each robot are large. So, there is an increasing need of an optimal sequence planning to minimize the total welding time. In this paper, an off-line programming scheme for effective teaching of a spot welding robot is presented. A collision free, optimal welding sequence planning is done through applying the modified Traveling Salesman Problem algorithm. Also, a data extraction method from an existing general CAD system is presented for reuse of the existing exact model data produced by a model designer and easy constructing the world model data base. The result show that the proposed system could enhance the efficiency of spot welding robot in automobile industry.

• The Journal of Korean Institute for Practical Engineering Education
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• v.2 no.2
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• pp.10-15
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• 2010

The subject of basic fluid power practice which is used in various industries requiring factory automation aims at understanding of the composition and operating principles of pneumatic components and programming of electric sequential circuits, building the design ability of pneumatic system. This subject goes by 3 hour classes with theory and practice side by side. So it is not enough time to instruct students various contents related in this subject. In this research a supplementary learing using E-learning is proposed as a solution for this problem. The off-line classes of this subject went with E-learning side by side and analyzed the effects of E-learning as a supplementary learning through the students survey who attended the class. And further needed research is presented.