• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 추계학술대회논문집
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• pp.437-440
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• 1997

The association of poor body postures with pains or symptoms of musculoskeletal discorders has been reported by many researchers. An ergonomic evaluation of postural stresses as well as biomechanical stresses is also important especially when a job involves highly repetitive or prolonged poor body postures. The human body is divided into five parts: shoulder/upper arm, lower arm/wrist, back, neck, lower extremities. A work-sampling based macropostural classification system was developed to characterize various postures in this study. Application of the posture classification schema developed in this study to 7 automobile assembly tasks showed that the schema can be used as a tool to didntify the operation and tasks involving highly stressful body postures. This posture classification schema can also be applied as a basis for quantitive evaluating the workload of manual task.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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• pp.244-248
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• 1987

The force/torque sensor for robot is developed. The compliance algorithm for peg-in-hole insertion task using the forec/troque sensor is developed. The system consists of an IBM PC, robot, force/torque sensor, strain meter, A/D board, and interface board. The IBM PC functions as a main processor and the robot controller as a slave processor. The sensor is constructed to measure $T_x$, $T_y$, $F_z$ which are necessary to precisely execute a peg-in-hole insertion task by SCARA type assembly robot. The outputs of sensor are analyzed. On the basis of the analysis, compliance algorithm for peg-in-hole insertion task is developed. Some comments concerning the development of wrist force/torque sensor and compliance algorithm are given.

• 한국해양공학회지
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• 제17권1호
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• pp.67-71
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• 2003

This paper presents the use of an evert system to automate process planning of block assembly, a task that is usually completed manually. In order to determine the sequence of assembly operation, a search method guided by rules, such as merging of related operations, grouping of similar operations, and precedence rules based on know-hows and geometrical reasoning, is used. In this paper, the expert system developed is explained in detail regarding a global database, control strategies, and rule bases. For verification purposes, the evert system has been applied to simple examples. Since the rule bases are isolated from the inference engine in the developed system, it is easy to add more rules in the future.

• 산업공학
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• 제10권2호
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• pp.29-40
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• 1997

This paper considers two-sided (left and right side) assembly lines which are often used, especially in assembling large-sized products such as trucks and buses. A large number of exact algorithms and heuristics have been proposed to balance one-sided lines. However, little attention has been paid to balancing two-sided assembly lines. This paper presents an efficient assignment rule for balancing two-sided assembly lines. The rule involves maximizing relatedness and slackness between works. We first investigate the characteristics of two-sided line balancing and devise new measures for the balancing. We in this rule assign workstations a set of tasks rather than an unit task at a time. a priority rule of assigning the sets is proposed. Extensive computational experiments are carried out to make the performance comparison between the proposed rule and existing ones. The computational results show that our rule is promising in solution quality.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.78-78
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• 2000

This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands, To be specific, some of coupling stiffness elements cannot be planned arbitrary. Through T-type assembly task, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. It is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.49-54
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• 2008

In order to do a maintenance task, a maintenance operator should learn the basic skills of the maintenance task such as assembly and disassembly (A/D). However, the key of the learning process is to learn the A/D task intuitively and naturally. Haptic guidance promises to give effectiveness and benefit qualitatively since a person can be trained to do the optimal task based on information that comes from an expert, database, or intelligent algorithms. By applying haptic guidance, a maintenance training process can be made more intuitive and natural in a virtual environment. This paper describes the development of a maintenance training system by using haptic guidance.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1998년도 춘계학술대회논문집
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• pp.31-35
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• 1998

Many reaearchers have reproted that poor body postures are associated with pains or symptoms of musculoskeletal dissoders. Therefore, the ergonomic evaluation of postural stresses as well as biomechanical stresses is important when a job such as automobile assembly tasks involves highly repetitive and/or prolonged poor body postures. A macropostural classification shema was developed to characterise various body postures occurring in automobile assembly tasks in the study. To specify a postural code and stress level to each body posture, perceived joint discomforts were subjectively evaluated in the lab experiments for the full range of motion in five human body joints. Based on the reaults, a postural classification scheme was developed where the full range of motion in each body joint was classified into several codes repressenting different stress levels. The automobile tasks were clustered into 12 types based on the result walk-in-surveillance and the possible posture codes for each task type are defined. I was exposed that the poor postural problems in automobile assembly tasks were concerned in most part with arms, trunk and neck. Application of te developed schema to seven operations in automobile assembly tasks showed that the schema can be used as a tool to identify the operations and tasks involving highly stressful body postures. The schema can also be utilised as a basis to prioritise the candidate assembly operations for redesign of work methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.168.2-168
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• 2001

Generally, operators suffer much difficulty in manipulating micro-nano-sized objects without assisting of human interface, due to the scaling effects in micro/nano world. Thus, the micromanipulation system based on the teleoperation techniques enables operators to manipulate the micro objects easily by transferring both human motion and manipulation skills to the micromanipulator. In teleoperated microassembly, it is necessary to provide a useful user interface for facilitating micro assembly task executed by human operators. In this paper, Intelligent User Interface (UI) for teleoperated microassembly is proposed. The proposed intelligent UI improves task performance by teleoperated micromanipulation as well as guides operators to succeed in desirable ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.211-215
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• 1989

This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

• 대한전기학회논문지
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• 제37권8호
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• pp.570-578
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• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.