• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.7
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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.

• 한국정보교육학회:학술대회논문집
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• 2010.08a
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• pp.259-264
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• 2010

This study examined a possibility of a new learning method using a robot to improve elementary school students' creativity and problem solving ability. It researched and analyzed school teachers' tendency about robot education and based on this it developed curriculum and teaching materials to teach and evaluate the education after school. According to the findings, a robot is found to have a possibility of a creative learning method.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.179.4-179
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• 2001

Most of shoes manufacturing processes are not yet automated, it puts restrictions on increasing 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 ...

• Journal of Fisheries and Marine Sciences Education
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• v.24 no.5
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• pp.653-661
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• 2012

The purpose of this research is to analyze teacher's lesson language pattern based on robot class. For this research as an analytical tool AF (Advanced Flanders) was utilized. Actually ClassReport ver 1.0 computer program was used in the process of input data. From the results of the Flanders index, The major instruction sequences were 4-8-3 in elementary school and 4-8 in middle school. The teacher's remarks in robot class in the elementary school rank 'instruction', 'question'. And In the middle school rank 'instruction' and 'positive advice' are very high ratio, but 'indication' is low ratio. The teacher constantly teach and ask question ratio in the middle school was higher than elementary school. But a tendency for non-indication was low ratio in the middle school than elementary school. These results could provide effective cues and information on how to to improve instruction.

• Journal of Engineering Education Research
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• v.15 no.5
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• pp.19-24
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• 2012

Robots have been attracting students' interest recently. Therefore, they are a good way to motivate to study related subjects. However, there are difficulties in teaching general students because a wide background is required to understand the fundamentals of robotics. In order to teach robotics fundamentals to beginners in a short period, an effective experimental class, including several phased experiments, is proposed in this paper. A portable two-DOF robot arm system with servo motors was developed for experiments, and the operation method based on kinematics was introduced for its operation. The effectiveness of the class was investigated by using a questionnaire after carrying it out in a university class for junior students.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.619-624
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• 2014

This paper introduces a robot-based learning system which is designed to teach multiplication to children. In addition to a small humanoid and a smart device delivering educational content, we employ a type of mixed-initiative operation which provides enhanced multi-modal cognition to the r-learning system through human intervention. To investigate major factors that influence people's intention to use the r-learning system and to see how the multi-modality affects the connections, we performed a user study based on TAM (Technology Acceptance Model). The results support the fact that the quality of the system and the natural interaction are key factors for the r-learning system to be used, and they also reveal very interesting implications related to the human behaviors.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.270-274
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• 1987

In this paper, the design method, design techniques and structure of a language for a SCARA type industrial robot, are presented. The proposed new language is modular and expandable using the C programming language and the 8086 assembly language. It is composed of monitor mode, editor mode, execution mode, I/O mode and teach mode. The developed language is implemented on the robot controller to verify its performance.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.13-19
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• 1995

A dual purpose robot automation system is developed for both arc welding and spot welding by one robot within a cell. The need for automation of both arc welding and spot welding processes is urgent while the production volume is not so big as to accommodate separate stations for the two processes. Also, space is too narrow for separate stations to be settled down in the factory. A spot welding robot is chosen and the functions for arc welding are implemented in-house at cost of advanced functions. For the spot welding, a single pole type gun is used and the robot has to push down the plate to be wolded, which causes the robot positioning error. Therefore, position error compensation algorithm is developed. The basic functions for the arc welding processes are implemented using the digital I/O board of robot controller, PLC, and A/D conversion PCB. The weaving pattern is taught in meticulously by manual teach. A fixture unit is also developed for dual purpose. The main aspects of the system is presented in this paper especially in the design and implementation procedure. The signal diagrams and sequence logic diagrams are also included. The outcome of the dual purpose welding cell is the increased productivity and good production stability which is indispensable for production volume prediction. Also, it leads to reduction of manufacturing lead time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.62-72
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• 1997

High flexibility and productivity using industrial robots are being achieved in manufacturing lines with off-line robot programmings. A good off-line programming system should have functions of robot modelling, trajectory planning, graphical teach-in, kinematic and dynamic simulations. Simulated results, however, can hardly be applied to on-line tasks until any calibration procedure is accompained. This paper proposes a visual calibration scheme in order to provide a calibration tool for our own off-line programming system of SCARA robots. The suggested scheme is based on the position-based visual servoings, and the perspective projection. The scheme requires only one camera as it uses saved kinematic data for three-dimensional visual calibration. Predicted images are generated and then compared with camera images for updating positions and orientations of objects. The scheme is simple and effective enough to be used in real time robot programming.