• 한국생산제조학회지
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• 제25권6호
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• pp.511-516
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• 2016

Guaranteeing the safety of human workers around robots has become an important issue with the increasing demand for human-robot collaboration in industrial production lines. This study proposes a robot manipulator equipped with a counterbalancing mechanism that reduces the power of actuators required to drive the robot, thus keeping a human worker safer in a human-robot collaborative environment. A counterbalancing torque that exactly cancels out the gravitational torque in the proposed mechanism is generated by restoring the force of a spring in the counterbalancing mechanism. A prototype design and experimental results are presented to verify the effectiveness of the proposed method.

• 품질경영학회지
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• 제31권3호
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• pp.114-125
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• 2003

In this paper, we deal with the problem of modeling of agent-based robot manufacturing cell. Its role is becoming increasingly important in automated manufacturing systems. For Object Oriented & Queueing Petri Nets (OO&QPNs), an extended formalism for the combined quantitative and qualitative analysis of different systems is used for structure and performance analysis of mobile robotic cell. In the case study, the OO&QPN model of a mobile robotic cell is represented and analyzed, considering multi-class parts, non-preemptive priority and alternative routing. Finally, the comparison of performance values between Shortest Process Time (SPT) rule and First Come First Serve (FCFS) rule is suggested. In general, SPT rule is most suitable for parts that have shorter processing time than others.

• 대한임베디드공학회논문지
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• 제14권4호
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• pp.187-195
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• 2019

In the fourth industrial revolution era, various commercial smart platforms for smart system implementation are being developed and serviced. However, since most of the smart platforms have been developed for general purposes, they are difficult to apply / utilize because they cannot satisfy the requirements of real-time data management, data visualization and data storage of smart factory system. In this paper, we implemented an open source based smart manufacturing big data platform that can manage highly efficient / reliable data integration for the diagnosis diagnostic system of manufacturing robots.

• 한국생산제조학회지
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• 제12권3호
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• pp.47-61
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• 2003

• 제어로봇시스템학회논문지
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• 제6권5호
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• pp.415-425
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• 2000

An open architecture manufacturing strategy intends to integrate manufacturing components on a single platform so that a particular component can be easily added and/or replaced. Therefore, the control scheme based upon the open architecture concept is hardware-independent. In this paper, a modular and object oriented approach for a PC-based open robot control system is investigated. A standard reference model for robot systems, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then, a PC-based Open Robot Controller(PC-ORC), which can reconfigure robot control systems in various production environments, is developed. The PC-ORC is built upon the object-oriented method, and allows an easy implementation and modification of various modules. The PC-ORC consists of basic softwares, application objects, and additional hardware device on the PC Platform. The application objects are: sequencer, computation unit, servo control, ancillary equipment, external sensor control, and so on. In order to demonstrate the applicability of the PC-ORC, the proposed PC-ORC configuration is applied to an industrial SCARA robot system.

• 한국안전학회지
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• 제38권3호
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• pp.1-9
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• 2023

Most existing industrial robots have fences installed around them to ensure safety. However, industrial sites are recently being transformed into workspaces shared by both robots and humans working cooperatively, wherein the robots are without security fencing owing to the development of sensor technology. However, in the last five years (2017-2021), 16 deaths have occurred due to robots at industrial sites, with the main cause of the accidents being workers approaching an industrial robot in operation and getting entangled with or colliding into the robot and its peripherals. To prevent such accidents, multilateral research is needed. To this end, this study analyzes the nonconforming contents of safety inspections for industrial robots and demonstrates the safety performance of the safety function control system implemented in an industrial robot cell. In addition, to ensure the fundamental safety of industrial robots, this study proposes the introduction of a safety certification system so that safety functions can be implemented in the design, manufacturing, and installation stages of the robots.

• 한국기계가공학회지
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• 제15권2호
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• pp.125-130
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• 2016

In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.731-739
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• 2008

The docking and recharging system for a mobile robot must guarantee the ability to perform its tasks continuously without human intervention. This paper proposes two docking mechanisms with localization error-compensation capability for an auto recharging system. The mechanisms use friction forces or magnetic forces between the docking parts of the robot and those of the docking station. It is a structure to improve the allowance ranges of lateral and directional docking offsets, in which the robot is able to dock into the docking station. In this paper, auto-recharging system and the features of the proposed mechanisms are verified with experimental results using simple homing method.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.250-255
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 98 version. 4 axes industrial 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 98'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.

• 한국생산제조학회지
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• 제23권5호
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• pp.421-427
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• 2014

In this paper, the kinestatic control algorithm using a six-axis compliant device is presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, this method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment. This kinestatic control method is used to simply control the position of an industrial robot with twists of compensation, which can be decomposed into twists of compliance and twists of freedom. A simple design method of a six-axis parallel-type compliant device with a diagonal stiffness matrix is presented. A compliant device prototype and kinestatic control hardware system and programming were developed. The effectiveness of the kinestatic control algorithm was verified through two kinds of kinestatic control experiments.