A study on the improvement of the robot motion control as a part of the integrated human and robot ergonomics

Integrated Human and Rob-ot Ergonomics의 측면에서 로보트의 동작제어 개선에 관한 연구

Teaching Expert System/World Coordinate System(TES/WDS) was proposed to improve robot motion control. First, precise coordinate reading for getting the inherent data about position and posture of task objects was performed throgh the integrated image and fuzzy processing. Second, singularity and parameter limitation problems in getting the motion data about position and posture of robot in macro motion were solved by proposed geometric algorithm. Third, the unnecessary robot motion was also removed by the Robot Time and Motion (RTM) method and the Multi-Geometric Straight-Line Motion (MGSLM) method in micro motion. This results demonstrated reduction of the average teaching task time according to task order.