• Journal of the Institute of Convergence Signal Processing
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• v.15 no.3
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• pp.104-111
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• 2014

In this paper, we deal with robotic automation for assembling car brake modules. A car brake module is comprises of a torque member, two brake pads, and two pad liners. In the assembly process, brake pads and pad liners are needed to be inserted in a torque member. If we use a typical robotic hand for the assembly, task time takes too long. So, we propose two methods. The first method is to use an end effector that has five grippers capable of gripping five assembly parts. In the first method we attached the implemented end effector to a conventional 6 degrees of freedom industrial manipulator and performed the bake module assembly task. Experimental results show that the task time is remarkably reduced. The brake module assembly task needs the robot to change its orientation frequently, so, in the second method, we added one degree of freedom to the end effector that is used in the first method. By attaching it to a conventional 6 degrees of freedom industrial manipulator, we composed a 7 degrees of freedom redundant manipulator. A redundant manipulator has the advantage of flexible manipulation so the robot can change its orientation easily and can perform assembly task very fast. Experimental results show that the second method dramatically reduce whole task time for brake module assembly.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.3 s.180
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• pp.132-138
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• 2006

With a great requirement of innovation caused by severe competition current companies are encouraged to improve bottleneck areas in production procedure. Specially a chassis line in which assembly processes are mainly carried out manually has the large potential to be automated. The putting of spare tire in trunk in chassis line is still dominated by free dropping method. Through that, parts in trunk such as luggage room lamp, jack and so on were damaged and the complaint of assembler in the next process was occurred due to physical strength. To eliminate these, tile robot system was in this paper developed to place spare tire on the mounting hole in trunk. The movement of robot was synchronized with the velocity of chassis hanger. With this automated system the productivity of the chassis line was increased from the benefits such as simplification of the system using only robot without the mechanically synchronized transport, inserting spare tire into the right position with robot, reduction of damaged parts and production of various type of car.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.1
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• pp.1-11
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• 1994

This paper presents an intelligent robotic control method for chamferless parts mating by integrating fuzzy control and neural network. The successful assembly task requires an extremely high position accuracy and a good knowledge of mating parts. However, conventional assembly method alone makes it difficult to achieve satisfactory assembly performance because of the complexity and the uncertainties of the process and its environments such as not only the limitation of the devices performing the assembly but also imperfect knowledge of the parts being assembled. To cope with these problems, an intelligent robotic assembly method is proposed, which is composed of fuzzy controller and learning mechanism based upon neural net. In this method, fuzzy controller copes with the complexity and the uncertainties of the assembly process, while neural network enhances the assembly scheme so as to learn fuzzy rules from experience and adapt to changes in environment of uncertainty and imprecision. The performance of the proposed assembly scheme is evaluted through a series of experiments using SCARA robot. The results show that the proposed control method can be effectively applied to chamferless precision parts mating.

• Journal of the Korean Society of Industry Convergence
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• v.7 no.2
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• pp.193-198
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• 2004

This is the dissertation of the study of design characteristics about the practical flexible manufacturing system (PFMS). The basic ideas to analyze the manufacturing system which is the automatically operated is dependant on the various manufacturing procedures in factory. PFMS is the very useful equipment for students and trainee of production lines. This system is composed of hardware and software sub systems i.e. control and test unit and personal computer with software. The PFMS can be developed with design concepts and approved the capability of first article with functional tests. The PFMS module will be very useful for the manufacturing drill system in universities and practical fields. The flexible manufacturing systems have various subsystems appropriated for the final manufacturing products. Therefore the systems have the various kinds of hard wares as well as softwares. We study the software for the practical flexible manufacturing system designed in the Halla University and specially the design concept and using specification of the SCARA (Selective Compliance Assembly Robot Arm) robot which is used for the movement of the product is analyzed and introduced in this dissertation.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.318-323
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• 1992

The improvement of the production capability of multi PCB assembly line can not be simply done by improving the capacities of each assembly robot cells but must be done by controlling the production line effectively with the line host computer which controls over the whole assembly line. A real time production control, a real time model change and a real time trouble shooting compose the specific concepts of this technique. In this paper, we present and analyze the definition and application method of real time assembly concept. The meaning of real time model change, troubles and error sooting and its algorithm will be introduced. Also, the function of the host computer which is in charge of all of many different tasks mentioned above and the method are presented. The improvement of the productivity is mainly focused on the efficiency of multi-PCB production control. The importance of this aspect is gradually increasing, which we have presented the analysis and the solution.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.153-158
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• 2000

This paper addresses an intelligent robot control system using an off-line programming to teach a precise assembly task of electronic components in a flexible way. The investigated task consists of three job: heat caulking test, soldering on a circuit board, and checking of soldering defects on the back cover of a camera. This study investigates the remodelling of the most complicated cell in terms of the accuracy and fault rate among the twelve cells in a camera back-cover assembly line. We have attempted to enhance back-cover assembly line. We have attempted to enhance soldering quality, to add task flexibility, to reduce failure rate, and to increase product reliability. This study modifies the cell structure, and improves the soldering condition. The developed all system implements the real-time control of assembly with vision data, and realized an easier task teaching on off-line programming.

• Journal of Ocean Engineering and Technology
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• v.9 no.2
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• pp.30-40
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• 1995

In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1830-1835
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• 2015

In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.552-555
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• 1996

In this paper, we present a force control of a five-axes robot, using an impedance model. Tasks such as assembly, grinding, and deburring, which involve extensive contact with the environment, are better handled by controlling the forces of interaction between the manipulator and the environment. The five-link articulated robot is equipped with a wrist force sensor which consists of an array of strain gauges and can delineate the three components of the vector force along the three axes of the sensor coordinate frame, and the three components of the torque about these axes. For the precise control of the contact force, impedance models of a robot and the environment are defined. Experimental results are shown.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.