• 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.

• 디자인융복합연구
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• 제15권4호
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• pp.59-70
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• 2016

Due to the newly emerging market for telepresence robots and the research in the area, designers and developers lack guidelines for specifying the physical characteristics of telepresence robots. On the basis of the previous literature, we attempted to make a distinction between two robot height approaches for telepresence robot designs: floor- versus desk-based robot designs. This research investigated the effects of these robot height approaches on consumer acceptance. We predicted that there would be difference between floor-based robots and desk-based robots regarding consumers' evaluation of and intent to purchase social robots. A study using two types of robots was conducted with sixty university students. The results showed that participants perceived desk-based robots as more useful than floor-based robots. In addition, the participants evaluated desk-based robots more positively than floor-based robots. Purchase intention and willingness to pay also showed similar results as evaluation. The implications for the design of telepresence robots in terms of increasing acceptance of robots are discussed in detail.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.518-522
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• 2001

The main problem of the calibration of robots is to measure the position and orientation of a robot end effector. The calibration methods can be used as tool to improve the accuracy of robots without change of the arm or control architecture or robots. But such calibration methods require accurate measurements. Dynamic measurement of position and orientation provides a solution for this problem and improves dynamic accuracy by dynamic calibration of robots. This paper describes the development of the laser tracking system capable of determining the static and dynamic performance of industrial robots. The structure and systems components are presented and basic experimental results are included to demonstrated the instrument performance. The system can be applied to the remote controlled mobile robots as well s the calibration of robots.

• 로봇학회논문지
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• 제2권2호
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• pp.196-204
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• 2007

In this paper, we are looking for requirements of software, hardware and application for use in network-based robots and also directions in building standardization and research activities by reviewing technical status of the robot industries developing robots. The questions are including awareness of RUPI(Robot Unifies Platform Initiative) activities, target market and applications, hardware specifications, software development technologies, and HRI(Human Robot Interaction). The RUPI committee creates standard and drives implementation software for network-based robots through industrial requirements as like of the results. Many robots have been developed and launched services based on RUPI 1.0 standards. Based on this achievement we are expanding RUPI standard to include thin and thick client robots. The results also show that which one is important and urgent technology in the sense of industrial robotic business.

• 한국안전학회지
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• 제10권3호
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• pp.110-114
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• 1995

Bacause of increasing the use in Industrial robots, the accident rate has been increasing now a days. The prediction of accident could be very hard as there are so many factors which occured accident. Removing the accident factors in industrial robots can be diagnosed by the human experts who are very familiar with in those area. The purpose of this study is a development of finger fault diagnosis system for industrial robots. We have many problems such as a long time to get the expert knowledge and the number of expert to be limited. To solve these problems lots of investment and time are required, and then the exepert system to finger fault diagnosis for industrial robots can be applied.

• 기술혁신연구
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• 제26권4호
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• pp.173-198
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• 2018

본 연구는 세계 42개국의 자료를 사용하여 산업용 로봇 도입의 결정요인을 분석하고, 한국에서 산업용 로봇이 빠르게 확산되고 있는 원인을 진단하였다. 산업용 로봇 변수는 국제로봇협회(IFR)의 2001년-2016년 "World Robotics: Industrial Robots" 자료를 사용하였다. 설명변수는 노동시장환경 변수와 혁신역량 변수를 포함하며, 관련 변수들은 해당 국제기관들의 자료에서 추출하였다. 실증분석에는 일부 설명변수의 내생성을 통제하기 위해 Arellano-Bond 동적 패널분석을 사용하였다. 분석결과, 한국은 소득수준이나 고용비용 및 혁신역량 등을 고려하더라도 다른 국가들에 비해 산업용 로봇 도입이 매우 빠르게 확대되어 온 것을 확인할 수 있었다. 이는 수요 측면과 공급 측면 모두에서 그 원인을 찾을 수 있다. 즉, 고용비용 증가 등의 노동시장환경 변화가 산업용 로봇 도입에 대한 기업 수요를 견인하였으며, 경제 전반의 자본집약도 증가와 기업의 혁신역량 증대와 같은 공급 측면 요인 또한 산업용 로봇의 도입을 촉진시켰다.

• Journal of Computational Design and Engineering
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• 제2권3호
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• pp.157-164
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• 2015

This paper discusses an optimization-based approach for the design of a product platform for industrial three-axis linear-type robots, which are widely used for handling objects in manufacturing lines. Since the operational specifications of these robots, such as operation speed, working distance and orientation, weight and shape of loads, etc., will vary for different applications, robotic system vendors must provide various types of robots efficiently and effectively to meet a range of market needs. A promising step toward this goal is the concept of a product platform, in which several key elements are commonly used across a series of products, which can then be customized for individual requirements. However the design of a product platform is more complicated than that of each product, due to the need to optimize the design across many products. This paper proposes an optimization-based fundamental framework toward the design of a product platform for industrial three-axis linear-type robots; this framework allows the solution of a complicated design problem and builds an optimal design method of fundamental features of robot frames that are commonly used for a wide range of robots. In this formulation, some key performance metrics of the robot are estimated by a reducedorder model which is configured with beam theory. A multi-objective optimization problem is formulated to represent the trade-offs among key design parameters using a weighted-sum form for a single product. This formulation is integrated into a mini-max type optimization problem across a series of robots as an optimal design formulation for the product platform. Some case studies of optimal platform design for industrial three-axis linear-type robots are presented to demonstrate the applications of a genetic algorithm to such mathematical models.

• 대한임베디드공학회논문지
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• 제19권1호
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• pp.57-64
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• 2024

In the industrial field, robots are used to increase productivity by replacing labors with dangerous, difficult, and hard tasks. However, failures of individual industrial robots in the entire production process may cause product defects or malfunctions, and may cause dangerous disasters in the case of manufacturing parts used in automobiles and aircrafts. Although requirements for early diagnosis of industrial robot failures are steadily increasing, there are many limitations in early detection. This paper introduces methods for diagnosing robot failures using sound-based data and deep learning. This paper also analyzes, compares, and evaluates the performance of failure diagnosis using various deep learning technologies. Furthermore, in order to improve the performance of the fault diagnosis system using deep learning technology, we propose a method to increase the accuracy of fault diagnosis based on an inference window. When adopting the inference window of deep learning, the accuracy of the failure diagnosis was increased up to 94%.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.306-311
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• 1992

We propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, which is one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor(DSP) TMS320C30 as a CPU. The experimental results demonstrate that the proposed algorithms are very effective in controlling axes of motion of industrial robots or CNC machine tools with the desired characteristics.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.