• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.375-381
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• 2011

This paper deals with the improvement of visual path following through velocity variation according to the coordinate of feature points. Visual path follow first teaches driving path by selecting milestone images then follows the route by comparing the milestone image and current image. We follow the visual path following algorithm of Chen and Birchfield [8]. In [8], they use fixed translational and rotational velocity. We propose an algorithm that uses different translational velocity according to the driving condition. Translational velocity is adjusted according to the variation of the coordinate of feature points on image. Experimental results including diverse indoor cases show the feasibility of the proposed algorithm.

• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.921-927
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• 2013

This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.

• 한국공작기계학회논문집
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• 제18권1호
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• pp.13-21
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• 2009

Interactive Graphic Robotics Integrated Programming(IGRIP) can handle various types of robot models and can exchange graphic or numerical data easily with other CAD software. In a cutting process of shape-steels, however. IGRIP is inconvenient because the users must generate all the tag points manually. In this study we developed an automation program module in order to generate the tag points automatically in IGRIP This program can read and analyze the macro data containing the information for cutting processes of shape-steels and can generate automatically the parts, the devices, the tag points and the Graphic Simulation Language(GSL) program files useful in IGRIP.

• 한국정밀공학회지
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• 제17권8호
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• pp.189-197
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• 2000

This paper addresses that the autonomous mobile robot with the function of teaching a moving path by speech and avoiding a collision is developed. The use of human speech as the teaching method provides more convenient user-interface for a mobile robot. In speech recognition system a speech recognition algorithm using neural is proposed to recognize Korean syllable. For the safe navigation the autonomous mobile robot needs abilities to recognize a surrounding environment and to avoid collision with obstacles. To obtain the distance from the mobile robot to the various obstacles in surrounding environment ultrasonic sensors is used. By the navigation algorithm the robot forecasts the collision possibility with obstacles and modifies a moving path if it detects a dangerous obstacle.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.656-664
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• 2016

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.

• 한국정밀공학회지
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• 제33권8호
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• pp.647-654
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• 2016

Controlling a mobile robot using conventional control devices requires skill and experience, and is not intuitive, especially in complex environments. For human-mobile robot cooperation, the direct-teaching method with impedance control has been used most frequently in complex environments. This thesis proposes a new direct-teaching method for a mobile robot utilizing variable impedance control. This includes analysis of user intention, which is changed by force and moment. A fuzzy inference technique is proposed in this thesis for identification of user intension. The direct teaching of a mobile robot based on variable impedance control through fuzzy inference is experimentally verified by comparing its efficiency to that of the conventional impedance control-based direct teaching of a mobile robot. Experimental data, such as the total time consumed, path error time, and the total energy used by the user, were recorded. The results showed that the efficiency of variable impedance control was increased.

• 한국정밀공학회지
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• 제20권1호
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• pp.107-117
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• 2003

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, an automatic polishing robot system was developed. The polishing robot system is composed of two subsystems, a three-axis machining center and a two-axis polishing head. The machining center is controlled by a FANUC controller, and the polishing head by DSP controller. The system has five degrees of freedom and is able to keep the polishing tool normal to the die surface during operation. To easily operate the developed polishing robot system, this study developed an integrated operating program in the Windows environment. The program consists of five modules: a polishing data generation module, a code separation module, a polishing module, a graphic simulator module, and a teaching module. And, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. Also, to evaluate the performance of the integrated operating program and the polishing robot system, polishing experiments of a die of shadow mask were carried out.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.123-123
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• 2000

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed in this research. The polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. The polishing system is controlled by a PC-NC controller. And, to easily onerate the developed polishing system, this stud)r developed a integrated program in the Windows environment. This program consists of 4 modules: polishing module, a graphic simulator, a polishing data generation module, and a teaching. Also, the automatic teaching system was developed to easily obtain a teaching data. The developed teaching system consists of a three dimensional joystick and a proximity sensor. In order to evaluate stability of the driving program and the leaching system, polishing experiments of the die of saddle shape were carried out.

• 제어로봇시스템학회논문지
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• 제15권5호
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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 Welding and Joining
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• 제14권2호
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• pp.96-105
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• 1996

Robot systems are widely utilized in the shipbuilding industry to enhance the productivity by automating the welding process. In order to increase productivity, it is necessary to reduce the time used for robot teaching. In this work, the automatic teaching system is developed for the subassembly process in the shipbuilding industry. A alser/vision sensor is designed to detect the weld seam and the image of the fillet joint is processed using the arm method. Positions of weld seams defined in the CAD database are transformed into the robot coordinate, and the dynamic programming technique is applied to find the sub-optimum weld path. Experiments are carried out to verify the system performance. The results show that the proposed automatic teaching system performs successfully and can be applied to the robot system in the subassembly process.