• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.166-166
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• 2000

This paper describes for applications of neural networks in the field of arc welding. Conventional, automated process generally involves sophisticated sensing and control techniques applied to various processing parameters. Welding parameters affecting quality include the arc voltage, the welding current and the torch travel speed. The relationship between the welding parameters and weld qualify is not a direct one, and in addition, the effect of the weld parameter variables are not independent of the each other - changing the welding current will affect the arc voltage, and so on. Finally, a suitable proposal to improve the construction of the model has also been presented in the paper.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.287-288
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• 2007

• Journal of the KSME
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• v.34 no.10
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• pp.770-779
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• 1994

생산공정에서 사용되는 거의 모든 제어대상 플랜트나 시스템들은 비선형적이고 불확실한 특성을 내포하고 있다. 종래의 제어기법들은 이러한 시스템들을 수학적으로 단순화시켜, 그 단순화된 모델을 바탕으로 제어하는 것을 기본으로 하고 잇는데, 이러한 방법은 시스템의 여러 가지 정 보의 손실을 초래하여 제어기 전체의 성능을 저하시키는 원인이 된다. 이러한 문제를 해결하기 위하여, 지능 제어 기법을 생산현장 플랜트에 적용함으로써, 종래의 제어기법들에 비해 향상된 제어 성능을 기대할 수 있다. 이 글에서는 이러한 기법들에 대한 이론의 소개 및 용접, 조립, 레이저 경화 등과 같은 생산공정과 로봇 제어분야 등에 적용한 사례연구를 살펴보고, 이를 통 하여 지능 제어 기법의 유용성을 살펴보기로 한다.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.66-76
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• 2002

Automated welding and soldering are an important manufacturing issue in order to lower the cost, increase the quality, and avoid labor problems. An off-line programming, OLP, is one of the powerful methods to solve this kind of diversity problem. Unless an OLP system is ready for the path optimization in welding and soldering, the waste of time and cost is unavoidable due to inefficient paths in welding and soldering processes. Therefore, this study attempts to obtain path optimization using a genetic algorithm based on artificial intelligences. The problem of welding path optimization is defined as a conventional TSP (traveling salesman problem), but still paths have to go through welding lines. An improved genetic algorithm was suggested and the problem was formulated as a TSP problem considering the both end points of each welding line read from database files, and then the transit problem of welding line was solved using the improved suggested genetic algorithm.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.2 no.4
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• pp.33-39
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• 2003

The stiffness of multi-articulated industrial robots is very weak, because their structure is an articulated type with some links and joints. Thus it is known that cutting processes for metals are not accepted in machine shop well, but they have a lot of merits for cutting processes, for example, drilling, tapping, and engraving etc, because of the characteristics of their high degree of freedom. The temptation of cutting aluminium was carried out to investigate the feasibility and the limitations or constraints for cutting metals on them. First the mode shapes of 6 degree of freedom welding robot were taken and analysed, and next the cutting processes were practically carried out on it. The results of study were found out to show the feasibility of cutting processes at drilling under 6mm of tool diameter, as well as to have some limitations and constraints, for examples, feed rate, depth of cut and cutting force etc.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1051-1056
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• 2014

In this paper, we introduce an intelligent robotic arc welding system which exploits sensors like as LVS (Laser Vision Sensor), Hall effect sensor, voltmeter and so on. The use of industrial robot is saturated because of its own limitation, and one of the major limitations is that industrial robot cannot recognize the environment. Lately, sensor-based environmental awareness research of the industrial robot is performed actively to overcome such limitation, and it can expand application field and improve productivity. We classify the sensor-based intelligent arc welding robot system by the goal and the sensing data. The goals can be categorized into detection of a welding start point, tracking of a welding line and correction of a torch deformation. The Sensing data can be categorized into welding data (i.e. current, voltage and short circuit detection) and displacement data (i.e. distance, position). This paper covers not only the explanation of the each category but also its advantage and limitation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.1
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• pp.60-68
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• 1999

This paper deals with the tracking control problem of industrial robotic manipulators with unknown or changing dynamics. The proposed method makes use of multiple moodels and switching mechanism by fuzzy inference of the manipulator in an indirect adaptive controller architecture. The models used for the indmtification of the manipliator are identical, except for the initial estimates of the unknown inertial pararmeters of the manipulator and its load. The torque input that is applied to the joint actuators is determined at every instant by the identification model that best approximates the robot dynamics. Simulation results are also included to dermnstrate the improvement in the tracking perfermance when the proposed method is used.s used.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.152-159
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• 2005

This paper describes the application of a model-based system design method critical to complex intelligent systems, PSARE, to a welding robot development to define its top level architecture. The PSARE model consists of requirement model which describes the core processes(function) of the system, enhanced requirement model which adds technology specific processes to requirement model and allocates them to architecture model, and architecture model which describes the structure and interfaces and flows of the modules of the system. This paper focuses on the detailed procedure and method rather than the detailed domain model of the welding robot. In this study, only the top level architecture of a welding robot was defined using the PSARE method. However, the method can be repeatedly applied to the lower level architecture of the robot until the process which the robot should perform can be clearly defined. The enhanced data flow diagram in this model separates technology independent processes and technology specific processes. This approach will provide a useful base not only for improvement of a class of welding robots but also for development of increasingly complex intelligent real-time systems.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.6
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• pp.55-62
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• 2017

This paper aims to realize additional axes, which increase the processing efficiency of a robot by controlling in harmful environments. Ultimately, this is to create time and energy savings in industrial sites with 6-axis articulated welding robots (RS2). Using $RecurDyn^{(R)}$ a simulation technique is applied. The motion paths of the welding rod are compared for two cases in order to verify the necessity of the additional axes: 1) when there are no additional axes and 2) when there are additional axes during welding using the RS2. For this purpose, the angle variations of the RS2 axes required for the simulation are compared, on the assumption that each of the four points of the welding bed installed on the additional axes of the welding rod in $Solidworks^{(R)}$ is point-welded. Then, actual additional axes equipment is grafted on to the RS2 and the process times compared using $LabVIEW^{(R)}$.

• Transactions of the KSME C: Technology and Education
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• v.5 no.2
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• pp.89-95
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• 2017

LCD robot vertical frame lets a arm assembly with glass substrate move up and down, so it must have high stiffness and strength. We applied new manufacturing process by using design optimization process such as topology and size optimization in order to satisfy the request of high stiffness and light weight. The proposed model should be evaluated for endurance strength. Therefore fatigue assessment for weak point of aluminum welding area of vertical frame studied with hot spot stress approach. And the actual stress measuring from test was compared and evaluated with the dynamic stress calculated from multi-body dynamics considering flexible body.