• Title/Summary/Keyword: robot teach

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Performance Evaluation of An Intuitive Robot Teach Method Using a Force/moment Direction Sensor

  • Park, Myoung H.;Lee, Woo-Won
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.78.1-78
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    • 2002
  • A quantitative performance evaluation of an intuitive robot teach method is presented. $\textbullet$ Teach times for two types of teach tasks are compared to the conventional teach pendant method. $\textbullet$ Teach tasks requiring a 4 DOF motion and a 6 DOF motion were tested. $\textbullet$ Compared to the teach pendant method, the proposed method reduce the teach times to 75% and 55%. $\textbullet$ The intuitive teach method is easier for the untrained robot users.

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A Study on the Optimum Design Parameters for Robot Teach Pendant (로보트 안전사고 방지를 위한 비상 정지 스위치의 설계지침에 관한 연구)

  • Park, Se-Jin;Lee, Nahm-Sik;Kim, Chul-Jung
    • Journal of Korean Institute of Industrial Engineers
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    • v.16 no.2
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    • pp.99-107
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    • 1990
  • Many accidents related to robot operation occur during the robot teaching process. This paper deals with recommendations for the teach pendant design parameters to enhance safety and performances in human-robot interactions. In order to investigate the optimum location and the size of the emergency stop button on the teach pendant, an experiment was conducted with a simulated teach pendant which can accomodate four different locations and three sizes of the button. Under a simulated emergency condition, the reach time to the emergency stop button was measured at random combination of the location and the size of button. The reach time was significantly affected by the location and the size of the emergency stop button. The fastest average reach time was attained with 1.5 inch-diameter button on the upper center of the teach pendant.

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A Force/Moment Direction Sensor and Its Application in Intuitive Robot Teaching Task

  • Park, Myoung-Hwan;Kim, Sung-Joo
    • Transactions on Control, Automation and Systems Engineering
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    • v.3 no.4
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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.

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A study on the efficient calculation method of the motion data in the industrial robot (산업용 로보트의 효율적인 작동 데이터 산출방법에 관한 연구)

  • 이순요;권규식;노근래
    • Journal of the Ergonomics Society of Korea
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    • v.9 no.2
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    • pp.21-28
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    • 1990
  • The robot motion control in the industrial robot is generally executed by the teach pendant. But, it requires much teaching time and workload to the operators. This study suggests the use of the robot motion control method by the computed keyboard in the industrial robot instead of the teach pendant. TES/CCS(Teaching Expert System/Cartesian Coordinate System) and TES/WCS(Teaching Expert System/World Coordinate System) that have been proposed to improve the robot motion control are applied for this concept. This study is intended to improve the robot motion control in TES/CCS. Parameter limitation problems in getting the motion data on position and posture of the robot in macro motion control are solved by proposed geometric algorithm. This result demonstrates reduction of the average teaching task time to the teaching position.

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COSMO - low cost force/moment sensor for robot teaching (COSMO - 로봇교시를 위한 저가형 6축 힘/모멘트 센서)

  • ;Choi, Myoung Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.1621-1623
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    • 1997
  • Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

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Teaching Method Without Work Space Limit for Industrial Robot (산업용 로봇의 작업공간 제한이 없는 교시 방법)

  • Choi, Taeyong;Do, Hyunmin;Park, Chanhun;Park, Dongil;Kim, Doohyeong;Kyung, Jinho
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.25 no.6
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    • pp.492-497
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    • 2016
  • Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.

Study on the Methods of Efficient Robot Fundamental Programming Education based on the Programming Patterns - Focus on MINDSTORM Robots - (프로그래밍 패턴에 기반한 효율적인 로봇 기초 프로그래밍 교육 방법에 관한 연구 - 마인드스톰 로봇을 중심으로 -)

  • Jeong, Inkee
    • Journal of The Korean Association of Information Education
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    • v.17 no.3
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    • pp.347-355
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    • 2013
  • A robot assisted education has advantages to increase the students' flow degree. Especially, when we teach programming with robots we take advantages that the students can easily understand the programs because they are interested in the robots and they can see the movement of the robots. However, it is difficult to teach programming to meet our purposes because the students have reluctances to the robot programming with sensors and they take a lot of time building the robots. Therefore, in this paper I analysed the patterns of the robot programming and propose new robot programming education methods that the students need not to care to the sensors. According to this methods, we can teach the robot programming efficiently because we reduce the time to build and programming the robots.

Calibration of robot kinematics for the off-line programming system (Off-line programming sysytem을 위한 로보트운동계의 calibration)

  • 김문상
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10a
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    • pp.511-517
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    • 1988
  • Movement order program of robot operating program is generally made by teach-in method. Therefore in most cases it is sufficient as long as the robot system shows a reguired repeatability for the working conditions. But the trend in the robot application moves to the automatic generation of the working programs. A mathematical robot model similar to the reality is necessary for the analysis of the kinematic transformation of the robot system. The purposes of this paper are to make a better describing form and to suggest an automatic algorithm for kinematic parameter identification.

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The test bed for teleoperated space robot (우주로봇 원격제어 테스트 베드)

  • 김동구;박종오
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.760-763
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    • 1997
  • Using telesensor programming method, we control the space robot which has two 2-DOF manipulators. To make this control system, we devide total works by elemental operation. And we make a simulation system that can simulate sensors and robot. In the simulation system, we make a sensor data and robot paths by "Teaching by showing" method. And using these data, we control the real space robot. This off-line method can solve long time delay problem in teleoperation.operation.

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A study on the design of control unit for playback-type industrial robot (기억재생식 산업용로봇트의 제어부 설계에 관한 연구)

  • 송상섭;김승필;변증남
    • 전기의세계
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    • v.29 no.7
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    • pp.460-470
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    • 1980
  • The design of a control unit for a playback-type industrial robot is studied. Implemented for the cylindrical-coordinate type industrial robot with 5 degrees of freedom, the control unit constructed for the study consists of (i) z-80 .mu.p-based .mu.-computer control system (ii) Teach-Box for work command, and (iii) various softwares for generating signals for servo driving unit and operating the robot as playback-type. Softwares are developed by using high level Basic Language and low level z-80 Assembly Language for ease of programming and speed of program execution. To show the effectiveness, and example is included.

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