• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.312-318
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• 2022

Robot-based layout automation has been recently promoted for the purpose of improving productivity and quality. Marking robots have various functional demands to secure marking precision and environmental adaptability. In particular, in order to automate marking work of building structure, correction of the marking line through position recognition of rebars placed is required. Because the rebars must maintain a constant cover thickness from the formwork surface, if the rebars are out of planned position, the rebar or marking line need to be corrected to secure the cover thickness. Thus, the marking robot for structural work needs to have the function for determining the position correction of the rebar or the marking line. In order to judge the correction of marking line, it is required to measure the distance between the planned marking line and the rebar placed. Therefore, this study proposes an algorithm that can measure the distance between the planned line and the rebar, and correct marking line for the automatic operation of the marking robot. The results of this study will be utilized as a core function for unmanned operation of the marking robot and contribute to securing precise marking by reflecting construction errors.

• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.9-17
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• 1999

This paper presents a method of grinding and polishing automation of precision die after CNC machining. The method employs a robot system equipped with a pneumatic spindle and a special abrasive film pad. The robot program is automatically generated off-line program form a PC and downloaded to robot controller. Position and orientation data for the program is supplied form cutter contact (CC) data of NC machining process. This eliminates separate robot teaching process. This paper aims at practical automation of die finishing process which is very time consuming and suffering from shortage of workpeople. Time loss due to changeover from one product to another is eliminated by PC off-line programming exploiting appropriate NC machining data. Dextrous 6-axis robot with rigid wrist and simple tooling enables the process applicable to larger, rather complex 3 dimensional free surfaces.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.396-400
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• 1988

This paper described network model system for FA with programmable devices such as PLC, CNC, Robot which basis on the MAP protocol and constructed with the broadband 1OMbps cables. Developed systems can comniunicate and control with programmable devices. Such systems we called are Remote PLC Control System, Remote CNC Control System, Remote Robot Control System.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.304-306
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• 2001

This paper presents the obstacle avoidance of a biped walking robot using GA-Fuzzy algorithm. In the case of our previous studies the surface has been assumed to be flat. For the case of the environment with obstacles, however, the walking robot might be unnatural. Thus, we considered the surface contained obstacles that the robot can pass through. We propose the optimal leg trajectory data-base by using genetic algorithm and optimal leg trajectory movement about obstacles that exist in front of the robot using fuzzy approach. It is shown that the robot can move more naturally on the surface that contains obstacles.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.481-486
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• 2002

Automation of Field Robot has many advantages for efficiency and convenience. In this paper, mathematical equation of field robot is established and automation system is constructed. Hydraulic and Dynamic equation of field robot are constructed in this paper. Inputs of system are angle data from each link (boom, arm, bucket, swing) and pressure data from in, out port of each cylinder. Outputs of system are voltage into electo-proportional valve.

• 한국산업융합학회 논문집
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• 제25권6_1호
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• pp.953-959
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• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.

• 대한기계학회논문집
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• 제19권4호
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.339-342
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• 1996

In this paper, the method for controlling PUMA robot using F/T sensor is described. In the part of the setup automation, robot is used. The F/T sensor is located at robot end-effector and various experiments are executed such as peg in hole, gripping objects, tool changing, etc.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2008년도 춘계학술발표대회 개요집
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• pp.19-19
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• 2008

• 한국정밀공학회지
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• 제17권5호
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• pp.84-92
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• 2000

Recently, the progress of industrialization has been taken concern of material handling automation. So for, the conveyor belt has been popular for material handling. However, this system has many disadvantages such as the space, cost, etc. In this paper, a new navigation algorithm using fuzzy is introduced. The mobile robot follows a line installed on the roads. These informations are inputted with three approximate sensors. These obtained informations are analyzed with fuzzy control technique fur autonomous steering. Therefore, unlike existing systems, high reliability is guaranteed under bad environment conditions. The installation and maintenance of a line is easily made at lower cost. This developed mobile robot can be applied to material handling automation in manufacturing system, hospital, inter-office document del ivory.