• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• International Journal of Control, Automation, and Systems
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• 제1권3호
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• pp.395-400
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• 2003

A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that, by using the force/moment direction sensor method, the teaching times were reduced by 25% for Task A and 45% for Task B compared to the teaching pendant method.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• 한국수학사학회지
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• 제34권1호
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• pp.1-20
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• 2021

Logic and intuition are considered as the opposite extremes of teaching geometry, and any teaching method of geometry is to be placed between these extremes. The purpose of this study is to identify the characteristics of logical and intuitive approaches for teaching geometry and to derive didactical implications by taking Euclid's Elements and Clairaut's Elements respectively representing the extremes. To this end, comparing the composition and contents of each book, we analyze which propositions Clairaut chose from Euclid's Elements, how their approaches differ in definitions, proofs, and geometrical constructions, and what unique approaches Clairaut took. The results reveal that Clairaut mainly chose propositions from Euclid's books 1, 3, 6, 11, and 12 to provide the contexts that show why such ideas were needed, rather than the sudden appearance of abstract and formal propositions, and omitted or modified the process of justification according to learners' levels. These propose a variety of intuitive strategies in line with trends of teaching geometry towards emphasis on conceptual understanding and different levels of justification. Specifically, such as the general principle of similarity and the infinite geometric approach shown in Clairaut's Elements, we could confirm that intuition-based geometry does not necessarily aim for tasks with low cognitive demand, but must be taught in a way that learners can understand.

• 한국초등수학교육학회지
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• 제15권2호
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• pp.283-300
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• 2011

이 연구는 초등학교 수학 지도에서 직관적 원리의 중요성을 인식하고, 교육과정과 그 해설서, 그리고 교과서에 제시된 직관적 원리에 의한 교육 내용을 분석하였다. 이를 위해 초등학교 교육과정과 그 해설서에 제시된 교육 내용에서 직관적 원리에 의한 내용을 추출하고, 이 내용이 교과서에 어떻게 구현되었는가를 분석하였다. 분석결과, 교육과정의 수학 교과의 성격에서는 직관적 원리에 의한 지도를 제시하고 있었으나, 목표와 학습 방법, 평가에서는 직관적 원리에 의한 지도 내용을 제시하지 않고 있었다 또한 내용영역에서는 교육과정 문서에는 직관적 원리에 의한 지도 내용을 제시하지 않았고, 교육과정 해설서에만 도형 영역 12개, 측정 영역 1개, 확률과 통계영역 2개가 제시되어 있었다. 그리고 본 연구에서 제시한 직관적 지도 원리 6가지 중에서 특정 원리에 치중되어 있었다. 이러한 결과를 바탕으로 교육과정 구안과 교과서 집필에 필요한 직관적 원리에 따른 수학 지도의 시사점을 도출하였다.

• 대한수학교육학회지:학교수학
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• 제4권4호
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• pp.677-688
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• 2002

The context and intuitive understanding is very important in Statistics Education. Especially, there is a need to mitigate student's difficulty in studying probability density function. One of teaching method this concept is to using relative frequency histogram. But, as using this method, we should know several problems included in that. This study investigate problems in the method for teaching probability density function as gradual meaning of histogram. Also, as alternative approach, this thesis introduce the density curve concept. The application of four methods to teach the concept of the probability density function and analysis of the survey result is done in this research.

• 한국수학사학회지
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• 제15권1호
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• pp.69-82
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• 2002

The purpose of this study is to explore historical development of conic sections and analyze formal aspects, application aspects and intuitive aspects in conic sections. We suggest implication for learning-teaching conic sections.

• 대한수학교육학회지:수학교육학연구
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• 제12권4호
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• pp.557-579
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• 2002

The purpose of this study is to find out the problems which are caused when the limit concept of sequences is learned through an intuitive definition and to suggest a way of solving those problems. Students in Korea study the limit concept of sequences through an intuitive definition. They fail to apply the intuitive definition properly to the problems and they are apt to have misconception even though the Intuitive definition is applied properly. To solve these problems, this study examined the develop- mental process of the limit concept of sequences from the Intuitive definition to the formal definition, and looked into the way of students' internalization of the process through a field study. In this study, the levels of the limit concept of sequences possessed by the students at ZPD are as follows; level 0 : Students understand the limit concept of sequences through the intuitive definition. level 1 : Students understand the limit concept of sequences as 'The difference between $\alpha$$_{n}$ and $\alpha$ approaches 0' rather than 'The sequence approaches $\alpha$ infinitely.' level 2 : Students understand the limit concept of sequences through the formal definition. The levels of students' limit concept development were analysed by those criteria. Almost of the students who studied the limit concept of sequences through the intuitive defition stayed at level 0, whereas almost of the students who studied through the formal definition stayed at level 1. Through the study, I found that it was difficult for the students to develop the higher level of understanding for themselves but the teachers and peers could help the students to progress to the higher level. Students' learning ability was one of major factors that make the students progress to the higher level of understanding as the concept was developed hierarchically from Level 0 to Level 2. If you want to see your students get to the higher level of understanding in the limit concept, you need to facilitate them to fully develop understanding in lower levels through enough experiences so that they can be promoted to the highest level.

• 대한수학교육학회지:학교수학
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• 제2권1호
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• pp.1-27
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• 2000

In the past half century little effort has been made for the improvement of teaching and learning statistics compared with other parts of school mathematics. But recently data analysis has begun to play a prominant role in the national reform efforts of mathematics curricula in the United States of America and the United Kingdom. In this paper we overview modern statistical thinking differed from mathematical thinking and examine the problems of current old-style teaching of statistics. And, we discuss the current data handling(or data analysis) emphasis in the national curriculum of mathematics in the countries mentioned above. We explore the reform direction of statistics teaching; changing the philosophy of teaching statistics, teaching real data analysis, emphasis of using computer, and teaching statistical inference not as mathematics but as intuitive data-centered approach.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.