• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• 한국정밀공학회지
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• 제30권1호
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• pp.96-104
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• 2013

Study of human-robot Interaction gets more and more attention to expand the robot application for tasks difficult by robot alone. Developed countries are preparing for a new market by introducing the concept of 'Co-Robot' model of human-robot Interaction. Our research of direct teaching is a way to instruct robot's trajectory by human's handling of its end device. This method is more intuitive than other existing methods. The benefit of this approach includes easy and fast teaching even by non-professional workers. And it can enhance utilization of robots in small and medium-sized enterprises for small quantity batch production. In this study, we developed the algorithms for creating accurate trajectory from repeated inaccurate direct teaching and GUI for the direct teaching. We also propose the basic framework for direct teaching.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.407-409
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• 1996

The Direct Arm(DDA) is a SCARA typed direct drive manipulator with three degree of freedom(DOF) using the direct motor of the NSK company. In the paper, we propose a convenient interface for the SCARA-type robot which is practical to use. The proposed Visual Robot Teaching Mode using 3D graphics replaces the current teaching box. And besides this graphical teaching software can be implemented on the PC which is company used as a robot controller. This program was developed for the Windows 95 OS.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권3호
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• pp.256-262
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• 2012

Direct teaching of the industrial robot is a novel technique to easily teach manipulators. However, teaching data by human hand cannot help having large noise errors ranging from low to high frequency. To use teaching data, post-processing to correct the teaching trajectory is required. Here, a novel shape-based trajectory correction method to rebuild teaching data with the feature information of curvature and velocity is proposed. The proposed method is tested on square and circular objects.

• 한국과학교육학회지
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• 제28권7호
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• pp.759-767
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• 2008

This article arose from the previous studies, which suggested a synthetic list for the nature of science (NOS), discussed the relationship between the NOS and scientific inquiry and the development of the NOS in the context of scientific inquiry. In this article, for teaching scientific inquiry through the NOS, I proposed three teaching models - reflection, interaction, and the direct model -. Within these teaching models, understanding the NOS is viewed as a prerequisite condition for the improved performance of scientific inquiry. In the reflection model, the NOS is embedded and reflected in scientific inquiry without explicit introduction or direct explanation of the NOS. In the interaction model, concrete interaction between scientific inquiry and the NOS is encouraged during the process of scientific inquiry. In the direct model, subsequent to directly comprehending the NOS at the first stage of activity, students conduct scientific inquiry based on their understanding of the NOS. The intention of this present article is to facilitate the use of these models to develop teaching materials for more authentic scientific inquiry.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.118.5-118
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• 2002

To apply induction hardening method to a press die having 3-D free surface, the induction hardening tool moves on a press die above 1～2mm gap with constant velocity. Since the induction hardening process requires its own hardening path for each die, a direct teaching method which generates working path directly guided by operators is more suitable than an offline method using CAD/CAM data. The direct teaching apparatus in this work includes a teaching tool with a force/torque sensor and data processing computer to finally generate robot's Induction hardening program , in direct teaching operation, an operator teaches working path maintaining contact with surface of press die by holding...

• 로봇학회논문지
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• 제15권4호
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• 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.

• 문화기술의 융합
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• 제8권1호
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• pp.121-129
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• 2022

이 연구는 거꾸로 수업, 직접교수법, 협동학습, 실시간 화상수업을 조합한 수업상황에서 학습에 유용한 교수학습활동을 탐색하였다. 연구대상은 교육방법 및 교육공학 과목 4분반, 교육학 교재연구 및 지도법 1분만을 수강한 99명이었다. 이들은 한 학기동안 하이브리드 수업상황을 경험하고, 활용된 22개의 교수학습활동이 학습에 유용한 정도를 리커트 척도에 답하였다. 그 결과, ① 22개의 교수학습활동은 모두 학습에 유용한 것으로 평가되었다. 그 중에서도 높은 평가를 받은 활동은 카톡방에서의 조별토론 내용을 캡처하여 제출한 것, 과제 사례 제공, 연습, 과제에 대한 피드백, 다른 모둠의 과제 결과 공유, 시험 답안에 대한 피드백 등이었다. ② 낮은 평가를 받은 교수학습활동은 화상 문답과 오픈 북 시험이었다. ③ 하이브리드 수업의 학습 효과에 대해서는 3.67점의 긍정적인 평가를 하였고, 학습량도 대면수업만큼 많았던 것으로 인식하였다(평균 3.67, SD=1.03). 자유응답도 문항조사결과를 지지하였다. 이 연구는 대학에서 원격수업을 통해 거꾸로 수업을 시행할 때 성패를 가를 수 있는 관건이 직접교수법, 협동학습의 정확한 실행임을 확인하고, 이를 구현할 구체적이고 효과적인 수업전략들을 검증하였다는 점에서 의미가 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.65-66
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• 2010