• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1996년도 춘계공동학술대회논문집; 공군사관학교, 청주; 26-27 Apr. 1996
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• pp.244-248
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• 1996

Nowadays, most shop floors using industrial robots have many problems such as constructing robot workcell, generating robot arm moving trajectory, etc.. In the case of programming robot-arms for a specific task, shop operator commonly use the teach pendant to record the target position and determine the moving trajectory. However, such a teaching process may result in an inefficient trajectory in the sense of moving distance and joint angle fluctuation. Moreover, shop operators who have little knowledge about robot programming process need a lot of learning time and cost. The purpose of this paper is to propose a user friendly robot programming method to program robot-arms easily and efficiently for shop operator so that the programming time is reduced and a short and stable trajectory is obtained.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.351-353
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• 1992

Recently, robot plays an important role in factory automation and its use is rapidly increasing. In paticular, modern industry tends to need the robot to adjust itself swiftly to new workcell. But, robot is to be taught of operator through teaching box in order that it can carry out new tasks. In the process, interruption of the production line is frequent and so much time and expense are required. Computer Graphic Simulator(CGS) provides a useful tool to overcome such a problem. In this paper, CGS consists of teaching mode and execution mode. The 5-axis Rhino robot is modelled in IBM-PC/386 compatible 32-bit personal computer with 80387 co-processor and the simulator performs defined operations on the computer screen.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.349-359
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• 1998

A robot control scheme for specific application a line-tracking system is newly presented. To improve the performance of line-tracking, robot arm dynamics and torque constraints are incorporated into the control scheme. The tracking problem for the workpiece on a variable-speed conveyor is formulated as an optimal tracking problem with specific criteria. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system. Simulation results are given to verify good tracking performance with fast cycle time and high accuracy in a robotic workcell.

• 제어로봇시스템학회논문지
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• 제4권2호
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• pp.226-234
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• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.445-449
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• 1993

The role of a robot becomes more important as factory automation is widely spread in the manufacturing industry. An off-line program system has been required for uninterruption of production lines because it can save cost and time spent in adjusting a robot to a new workcell. The objective of this paper is to develop our own OLP system for a SCARA type FARA robot with four axes. Three-dimensional graphic results are presented for the case when the robot is simulated using the computed torque method with a PD controller and the continuous path trajectory planning.

• 한국정밀공학회지
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• 제11권5호
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• pp.171-179
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• 1994

For successful implementation of robotic painting system, a structured design and analysis procedure is necessary. In designing robotic system, both functional and economical feasibility should be investigated. As the robotization is complicated task involving implemen- tation details (such as robot selection, accessory design, and spatial layout) together with operation details, the computer aided design and analysis method should be sought. However, conventional robotic design systems and off-line programming systems cannot accommodate these inquiries in a unified fashion. In this research, we develop an interactive design support system for robotization of a cycle painting line. With the developed system called SPRPL (Simulation Package for Robotic Painting Line) users can design the painting objects (via FRAME module), select robot model (ROBOT), design the part hanger (FEEDER), and arrange the workcell. After motion programming (MOTION), the design is evaluated in terms of: a) workpace analysis, b) coating thickness analysis, and c) cycle time (ANALYSIS).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.121-124
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• 1996

Recently, the importance of the network using Fieldbus is being increased in an implementation of factory automation system. In spite of expanding the concept and products of Fieldbus, it is not widely used yet. This is partly due to the lack of the standard specification and the relatively low performance with respect to the cost. So, in order to expand the usage of the Fieldbus, not only the standardization effort, but. also the increase of performance is needed. In this paper, the method which increases the performance of Fieldbus by reforming of the sensor and the actuator data is thoroughly estimated and evaluated when the assumptions about the real-time characteristics of a robot workcell as an example of the ICCS(Integrated Communication and Control System) are sustained.

• 한국정밀공학회지
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• 제31권8호
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• pp.689-696
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• 2014

This paper presents a scheduling problem for a high-density robotic workcell using multi-objective genetic algorithm. We propose a new algorithm based on NSGA-II(Non-dominated Sorting Algorithm-II) which is the most popular algorithm to solve multi-objective optimization problems. To solve the problem efficiently, the proposed algorithm divides the problem into two processes: clustering and scheduling. In clustering process, we focus on multi-robot positions because they are fixed in manufacturing system and have a great effect on task distribution. We test the algorithm by changing multi-robot positions and compare it to previous work. Test results shows that the proposed algorithm is effective under various conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1149-1154
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• 1991

For a robotic workcell, which consists of multiple robots, several interconnection methods are presented in terms of the processor based architecture. Since few attempts have been made to formulate and analyze multiple robot system(MRS), we turn the knowledge of multiple processor system(MPS) or multiple computer system(MCS) to good account. The performance evaluation is achieved through queueing analysis, the aim being to compare their response time, utilization, probability of service failure under different workload. To verify the validity of the proposed analysis methods, a computer simulation is performed. The results together with comments presented here give some useful guidelines for the selection of an appropriate interconnection method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1129-1135
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• 1993

For successful implementation of robotic painting system, a structured design and analysis procedure is necessary. In designing robotic system, both functional and economical feasibility should be investigated. As the robotization is complicated task involving implementation details(such as robot selection, accessory design, and spatial layout) together with operation details, a computerized method should be sought. However, any conventional robotic design system and off-line programming system cannot accomodate such a need. In this research, we develop an interactive design support system for robotization of a cycle painting line. With the developed system called SPRPL(Simulation Package for Robotic Painting Line) users can design the painting objects(via FRAME module), select robot model (ROBOT), design the part hanger (FEEDER), and arrange the workcell. After motion programming (MOTION), the design is evaluated in terms of: a) workspace analysis, b) coating thickness analysis, and c) cycle time (ANALYSIS). By iterative design and evaluation procedure, a feasible and efficient robotic design can be attained. As the developed system has motion planning and analysis features, it can be also used as an off-line robot programming system in operation stage. Including the details of each module, this paper also presents a case study made for an actual painting line.