• 제어로봇시스템학회:학술대회논문집
• /
• 1994.10a
• /
• pp.251-256
• /
• 1994

Integration of intelligent robot workcell is now a hot issue in CIM and robotics area. This piper dealt with relatively low-level essential topics, i.e., multi-robot coordination and real-time communication for the integration of intelligent robot workcell. For the coordination of multi-robot system, the tightly-coupled coordination is proposed using the various sensors. In order to handle the numerous communication data, time-critical communication network (Field-bus) is introduced and investigated. Finally, intelligent robot workcell is suggested using the Mini-MAP and Field-bus.

• Proceedings of the KIEE Conference
• /
• 1993.07a
• /
• pp.406-409
• /
• 1993

Integration of intelligent robot workcell is now a hot issue in CIM and robotics area. This paper dealt with relatively low level essential topics. i. e., multi-robot coordination and real-time communication for the integration of intelligent robot workcell. For the coordination of multi-robot system, the tightly-coupled coordination is proposed using the various sensors. In order to handle the numerous communication data, time-critical communication network (field-bus) is introduced and investigated. Finally, intelligent robot workcell is suggested using the mini-MAP and field-bus.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1249-1252
• /
• 1996

With the expansion of research and development for the CIM and the IMS, the importance of introducing the communication network is being increased. This paper presents an implementation of robot workcell by using Fieldbus and investigates data operation of the robot workcell. Through experiments, the operations of periodic and real-time data, and non-periodic real-time data are studied. Also, the relationship between the network transmission rate and the monitoring results from the sensor is analyzed.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.269-272
• /
• 2003

Industry is now seeing a dramatic increase in robot simulation and off-line programming. In order to use off-line programming effectively, the simulated workcell has to be identical to the real workcell. This requires an efficient and accurate method for the workcell calibration. Currently used techniques in the industry, however, are typically time-consuming, expensive and therefore not suitable for in-process application. This is because most of these techniques are based on the so-called “absolute calibration” method. In contrast to absolute method, relative calibration only measures the difference of an interested object relative to a standard reference. Owing to the small measurement range requirement, relative calibration method is very cheap and can achieve very high accuracy. In this paper the relative method is applied to calibrate an entire grinding workcell. Linear gauge is the only measurement device used. This workcell calibration includes tool center point (TCP) calibration and work object frame calibration. Due to the efficiency of the calibration algorithm and the simplicity of the calibration setup, the described calibration procedure can be done in process.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.589-594
• /
• 1989

In this paper, a programming system for robot-based manufacturing cell which can control and simulate manufacturing devices as well as robots in workcell is proposed and developed. The system is based on world model, and modem textual and object-level robot programming language and interactive graphic world modeler are used to construct and exploit world model. Graphic simulation is used as an efficient and easy to use debugging or verifying tool for user written robot programs. Machine dependency is minimized by adopting the hierarchical control structure and by assuming all the workcell components as virtual ones.

• Proceedings of the Korean Operations and Management Science Society Conference
• /
• 1995.04a
• /
• pp.629-634
• /
• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• Proceedings of the KIEE Conference
• /
• 1988.11a
• /
• pp.441-444
• /
• 1988

This paper presents a methodology for developing the graphic simulator for a robotic workcell. The Petri Net model is applied to described the system state and the workcell simulation is performed by the event scheduling approach of the model. For the graphic display of simulation process, the information of the workcell resources are stored in hierachically-structured data_babe, and the geometry of the resources is described by robot modelling, component modelling, and world modelling.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.39 no.4
• /
• pp.414-427
• /
• 1990

This paper presents the development of the graphic simulator for an assembly workcell. The assembly workcell consists of two PUMA 560 manipulators, a conveyor belt system, a work table, and a vision sensor. In this study, the Petri Net theory is applied to model the assembly workcell and to construct the simulator. The event scheduling approach is used to simulate the cell. In order to show the graphic display of the simulation process, robot modelling, component modelling, and world modelling are included. The developed simulator is used to display the transition of the system state during the simulation. It is also used as a tool in selection the best resource states by studying the performance of the system as the resource states are changed.

• Journal of Korean Institute of Industrial Engineers
• /
• v.22 no.4
• /
• pp.579-588
• /
• 1996

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on $A^*$ is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.26 no.2
• /
• pp.76-86
• /
• 1989

Many intelligent robots that are equipped with special tools and sensors re currently used in assembly line. As automatic manufacturing systems including such robots become advanced and complicated, there are increasing needs for the development of the sophisticated programming systems which can control several robots and other manufacutring equipments in workcell at a time. In this paper a programming language, ARL (Assembly Robot Language), is proposed and developed, which can control the manufacturing devices as well as robots in workcell. It has not only all the common features of modern textual robot language but also debugging facilities. In this language system machine dependecy is minimized by using dedicated processes and a shared memory for communication between processes. Extensibility and adaptability of the programming system is increased by using such a technique against the changes of workcel environment.