• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1144-1148
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• 1991

The problems occurred when developing a automatic wheel deburring system are to make effective flexibility in model change and the irregularity of the position/shape of the burr, to select optimal robotic manufacturing process and to develope optimal end effector. The locations where burr exists are on flange, rim and spoke. Here will be discussed the optimal solution for the removal of rim burr by using robot. The research can be summarized as the automatic robot path generation by recognizing rim contour and automatic deburring process technique. Various rim contour data is generated automatically when the sensor which is fixed to robot is moving with the parallel motion to the wheel center axis and this generated data is transferred to the data storage system and converted to the robot path data. The robotic tool system which is suitable to the rim deburring process is developed by integrating tool, compliance function and sensor. And factory automation system controlled by robot controller and PC is developed. This system shows good productivity and flexibility.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1687-1692
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• 1991

Burrs, created when metals deform plastically, are by-products of most machining processes. The increasing requirements of precision and reliability in manufacturing processes have led to the development of systems for automated deburring. In this paper the motivations and requirements for automated robotic deburring are discussed. Also, the feasibility of automating the deburring process using fuzzy logic controller is investigated. In implementing the fuzzy logic controller, particular attention is paid to the acoustic emission sensing for the characterization and feedback control of the burr removal process. The results of the experiments reveal the rule based control scheme based on fuzzy logics can be a good alternative to traditional control schemes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.256-263
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• 1993

The integration of deburring robots into product quality and productivity impact the industrial. In this paper the intelligent system of robotic deburring is proposed integrated with robot system, image processing system, force sensor system and host PC. The size, position, recognition of burr is determined by the information that the image processing system processed. The feed velocity of cutting tool is controlled by the information that the force sensor system processed. The integration of these information can remove the uncertainty of the information of deburring on the cutting path. The result of these technologies is useful for the development of the factory automation and automatic inspection equipments.

• 동력기계공학회지
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• 제2권3호
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• pp.83-88
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• 1998

This paper presents an efficient control algorithm that removes irregular burrs using vision and force sensors. In automated robotic deburring, the reference force should be accommodated to the profile of burrs in order to prevent the tool breakage. In this paper, (1) The profile of burrs is recognized by vision sensor and followed by the calculation of reference force, (2) Deburring expert's skill is transferred to robot. Finally, the performance of robot is evaluated through simulation and experiment.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1995년도 춘계학술대회논문집
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• pp.131-144
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• 1995

This paper presetns modifications of a hydraulic shovel to robotize, and we derive a dynamic model of the hydraulic shovel arms,and hydraulic analysis are discussed . Then , our purpose is making to imitate a target railroad line of the grinder position by the PID control. Moreover, to determine the gains of the PId controller, we referenced the Ziegler and Nichols' method. In this paper, we demonstrated that the PID control is available for system. These results indicated the possibility of practical use fo the deburring robot with the hydraulic shovel.

• 드라이브 ㆍ 컨트롤
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• 제12권3호
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• pp.11-17
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• 2015

An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.

• 한국정밀공학회지
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• 제13권7호
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• pp.78-89
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• 1996

This paper discusses automation of a small-scale hydraulic shovel and its trajectory control. To move an end-effect (grinder) along a desired trajectory, the controller uses PID(proportional-integral- defferential) control and internal pressure of hydraulic cylinder. To apply PID control in the present hydraulic system, the system model is derived physically and its system parameters are obtained by actual measurement. To show the effectiveness of the PID controller and propriety of system model, the computer simulations and experiments are performed. These results of the simulations and experiments indicate that the PID trajectory control of robotic deburring by hydraulic shovel is very effective.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1677-1680
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• 1991

Machining is a bottleneck in robot application technologies because of uncertainty of position/form, poor reliability of robot function and low reaction speed of robot to changes of surroundings, But in grinding automation with relatively low machining speed it is feasible to integrate of sensor signal in machining. In this paper strategy for robotic grinding with F/T sensor will be presented and with that the experimental results will be discussed. F/T sensor signal in grinding of strategy weld seam are transferred to PC, which plays a role as cell computer and transform F/T data to robot position and/or orientation, speed correction data according to programmed algorithm. The possibility and boundary of robotic grinding with F/T sensor intergration is discussed.

• 한국정보통신학회논문지
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• 제18권2호
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• pp.276-281
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• 2014

본 논문은 산업용 로봇을 위한 힘 피드백 제어는 사람의 감각을 기반으로 한 작업을 대체하여 구현하기에 적합한 연마 시스템을 제안하였다. 기존 연마작업의 표면 연마, 비드처리, 기계 가공 디버링 등의 공정은 그 복잡성에서 자동화가 가장 곤란하다고 인식되어 주로 인력에 의존 해왔다. 본 연구에서는 연마 공구를 파지시킨 힘 제어 로봇에 의한 자동 연마 시스템의 구축과 힘 센서로부터 신호 피드백 제어 방식의 특성 파악과 연마 공정에 적응성을 검증했다. 또한 실용화를 목적을 위한 선박의 바닥 및 측면 연마에의 응용을 진행했다. 따라서 자체 제작한 연마로봇을 활용 한 표면 연마작업을 통하여 실험결과를 검증하였다.

• 한국정밀공학회지
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• 제16권2호통권95호
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• pp.5-14
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• 1999

The necessity of six axis force-torque sensors is well recognized in the fields of automatic fine assembly, deburring polishing, and automatic fish processing using robotic manipulators. The paper proposes a simple and compact elastic structure of the force-torque sensor which senses externally applied three force and three torque components. Rough surface strain distribution of the elastic structure is examined analytically, and then more accurate surface strain are obtained from finite element analysis. The compliance matrix which is a linear relationship between force components and strain measurements is obtained for the proposed sensor. Some basic principles of measuring 3 force and torque components are also presented.