• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.808-812
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• 2003

We need a lot of manpower and we can cut down a labor cost by applying industrial robots the footwear bonding automation process. In this study, we suggest how to program off-line robot path along a shoe's outsole shape in the footwear bonding process by 5-axis microscribe system like robot arms. This microscribe system development consists 5-axis microscribe mechanics, signal processing circuit, and PC with software. It is the system for making database of a shoe's outsole through the movement of a microscribe with many joints. To do this, first read 5-encoders' pulse values while a robot arm points a shoe's outsole shape from the initial status. Then, calculate a relative shoe's outsole by Denavit-Hatenberg's (D-H) direct Kinematics of known length of links and coordinate values. Next, calculate the encoders' pulse values of the robot arm's rotation and transmitting the angle pulse values to the PC through a circuit. Finally, it is able to display a shoe's outsole at real-time by computing the Denvavit-Hantenberg's (D-H) direct kinematics in the PC. With the coordinate values calculated above, we can draw a bonding gauge-line on the upper. Also, we can make off-line robot path programming compute a shoe's bonding area on the upper. These results will be effectively applied for programming a robot path on off-line and automatically.

• 한국정밀공학회지
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• 제19권10호
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• pp.66-76
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• 2002

Automated welding and soldering are an important manufacturing issue in order to lower the cost, increase the quality, and avoid labor problems. An off-line programming, OLP, is one of the powerful methods to solve this kind of diversity problem. Unless an OLP system is ready for the path optimization in welding and soldering, the waste of time and cost is unavoidable due to inefficient paths in welding and soldering processes. Therefore, this study attempts to obtain path optimization using a genetic algorithm based on artificial intelligences. The problem of welding path optimization is defined as a conventional TSP (traveling salesman problem), but still paths have to go through welding lines. An improved genetic algorithm was suggested and the problem was formulated as a TSP problem considering the both end points of each welding line read from database files, and then the transit problem of welding line was solved using the improved suggested genetic algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.113.2-113
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• 2001

In this paper, we present a robot off-Line programming system with collision detection. The collision detection is a very important factor of robot oft-line programming system for collision avoidance, path planning, and so on. The System developed in this paper, basically using an algorithm for the minimum distance calculation between general polyhedra. The proposed system shows an exact and interactive result in static and dynamic environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1469-1473
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• 2004

We suggest how to program off-line robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot arms. This microscribe system developed consists a 5-axis robot link with a turn table, signal processing circuit, PC and an application software program. It makes a robot path on the shoe's upper through the movement of a microscribe with many joints. To do this, first it reads 5-encoder's pulse values while a robot arm points a shoes' outsole shape from the initial status. This system developed calculates the encoder pulse values for the robot arm's rotation and transmits the angle pulse values to the PC through a circuit. Then, Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from robot joint one. The determinant is obtained with kinematics equation and D-H variable representation. To drive the kinematics equation, we have to set up the standard coordinates first. The many links and the more complicated structure cause the difficult kinematics problem to solve in the geometrical way. Thus, we can solve the robot's kinematics problems efficiently and systematically by Denavit-Hartenberg's representation. Finally, with the coordinate values calculated above, it can draw a buffing gauge-line on the upper. Also, it can program off-line robot path on the shoes' upper. We are subjected to obtaining shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. These data is supposed to be transformed into .dxf file to be used for data of automatic buffing robot. This system developed is simulated by using spline curves coupled with each point from dxf file in Autocad. As a result of applying this system to the buffing robot in the flexible footwear manufacturing system, it can be used effectively to program the path of a real buffing robot.

• 한국정밀공학회지
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• 제8권4호
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• pp.84-94
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• 1991

In order to achieve high accuracy of teaching and increase productivity using industrial robots in polishing process of dies, an off-line task programming system was developed on IBM-PC/386 under WINDOWS 3.0 operating system. The internal structure and the machematical basis of CAMPoli are described. Surface modeling technique of polishing dies with sculptured surfaces is introduced by poing data interpolation methodology through the use of CL-data transmitted from conventional CAM system. Tool selection, polishing speed, polishing pressure and kinds of tool motions can be determined and selected by user specified polishing variables. Task creation and verification of polishing path via computer graphics simulation of polishing tool can be done by the menu- driven function of CAMPoli system. Post-processing module is attached to generate robot language. Some simulation results are provided as verification means of the system.

• 한국산학기술학회논문지
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• 제14권2호
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• pp.585-591
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• 2013

페키지형 발전시스템용 라디에이터를 균일한 두께로 코팅할 수 있는 로봇자동화 시스템을 개발하였다. 이 시스템은 스프레이 건을 부착한 6축 로봇, 로봇을 주행방향으로 이송하는 주행대차, 공압과 함께 도료와 신너를 공급하는 장치, 제어장치 및 로봇경로 오프라인프로그램으로 구성되어 있다. 최적운전 조건으로 코팅로봇 자동화 시스템을 사용하여 라디에이터를 코팅한 결과, 평균 코팅두께가 $43{\mu}m$로서 규정치인 $25-100{\mu}m$을 만족하였다. OLP를 활용한 코팅로봇 자동화 시스템의 생산성은 기존 수작업의 12.6 배로 향상되었다.

• 한국산학기술학회논문지
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• 제9권1호
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• pp.1-8
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• 2008

신발 버핑공정에서 로봇 메카니즘과 같은 5축 마이크로스크라이브에 의하여 신발창 형상을 따라서 버핑 로봇 경로를 오프라인으로 프로그래밍하는 방법을 제안한다. 개발한 마이크로스크라이브 시스템은 턴테이블이 부착된 5축 로봇링크, 신호처리장치, PC 및 응용 소프트웨어 프로그램으로 구성되어 있다. 많은 조인트를 가진 마이크로스크 라이브를 신발창 표면을 따라 이동시킴으로써 로봇 경로가 만들어진다. 개발시스템은 마이크로스크라이브 암의 회전에 해당되는 엔코더 펄스 값을 환산하며, 이 각도 값을 신호처리장치를 통하여 PC로 전송한다. Denavit-Hartenberg's(D-H) 직접 키네메틱스가 마이크로스크라이브 조인트 각도 값으로서 글로벌 좌표값을 만드는데 사용된다. 마이크로스크라이브의 키네메틱스 문제는 D-H 표현에 의하여 효과적이고 시스템적으로 해결된다. 개발시스템은 D-H식에 의하여 계산된 좌표 값으로서 신발 갑피 위에 버핑 게이지 라인을 그릴 수 있으며, 또한 신발 갑피 위에 각 점들과 그 점에 수직인 벡터와 결합된 2개의 외곽 라인으로서 로봇 경로를 얻는다. 개발시스템을 FMS의 버핑 로봇에 적용함으로써 실제적인 버핑 로봇의 경로를 프로그래밍하는데 효과적으로 사용될 수 있다.

• 대한산업공학회지
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• 제22권3호
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• pp.499-515
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• 1996

The basic function of on industrial robot system is to move objects in the workspace fast and accurately. One difficulty in performing this function is that the path of robot should be programmed to avoid the collision with obstacles, that is, tools, or facilities. This path planning requires much off-line programming time. In this study, a SOM technique to find the collision-free path of robot in real time is developed. That is, the collision-free map is obtained through SOM learning and a collision-free path is found using the map in real time during the robot operation. A learning procedure to obtain the map and an algorithm to find a short path using the map is developed and simulated. Finally, a path smoothing method to stabilize the motion of robot is suggested.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.180.6-180
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• 2001

Welding/soldering automation is one of the most important manufacturing issues in order to lower the cost, increase the quality, and avoid labor problems. An off-line programming, OLP, is one of the powerful methods to solve this kind of diver sity problem, Unless an OLP system is ready for the path optimization in welding/soldering, a waste of time and cost is unavoidable due to an inefficient path in welding/soldering processes. Therefore, this study attempts to obtain path optimization using a genetic algorithm based on artificial intelligences. The problem of the welding path optimization is defined as conventional TSP (traveling salesman problem), but still paths have to go through welding lines. An improved genetic algorithm was suggested and the problem was formulated as a TSP problem considering ...

• 제어로봇시스템학회논문지
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• 제10권7호
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• pp.643-648
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• 2004

Most of shoes manufacturing processes are not yet automated, which puts restrictions on the increase of productivity. Among them, adhesive application processes particularly are holding the most workers and working hours. In addition, its working conditions are very poor due to the toxicity of adhesive agents. In case of automating adhesive application processes by using robots, the robot teaching by playback is difficult to produce high productivity because the kinds of shoes to be taught mount up to several thousands. Therefore, it is essential to generate the robot working paths automatically according to the kind, the size, and the right and left of shoes, and also to teach them to the robot automatically. This study deals with automated adhesive spraying to shoe outsoles and uppers by using a robot, and develops the program to generate three-dimensional robot working paths off-line based on CAD data. First, the three-dimensional data of an outsole outline or an upper profiling line are extracted from the two-dimensional CAD drawing file or the three-dimensional scanner. Next, based on the extracted data and the nozzle conditions for adhesive spraying, a robot working path is generated automatically. This research work is the core in automating adhesive spraying processes, and will do much for increasing productivity of shoes manufacturing.