• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.65-66
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.926-931
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• 1987

The present study is devoted to the development of a simplified teaching method whereby the control data of the 3-dimensional operations of a playback-type trial robot can be stored in a personal computer. The control data of the 3-dimensional operations are given using an instruction wand handled by an operator. The operator's task is only to track a desired robot path with the wand. The 3-dimensional position of the wand are measured by ultrasonic devices, the principle of which was developed for this study and is introduced in detail. In order to clarify the applicability of this method, experts were performed with respect to a continuous-path teaching and a pick-and-place task teaching which are typical jobs of robot operators.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.6
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• pp.615-621
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• 2013

The robot calibration has greatly improved the absolute accuracy of the industrial robot. However, the accuracy of the relative positions of robotic tool-tip at work-points on a work-piece is only slightly corrected by the robot calibration since there has been no practical method to eliminate the elements of the setup position errors at a robotic workplace. A robotic workplace calibration is demonstrated in this paper to minimize the relative position errors between a robot tool-tip and the work-point on a work-piece. The existing teaching and playback method has been developed for the robotic workplace calibration. This paper uses the work-piece fixed in a robotic work-place as measurement equipment instead of a special robot measurement equipment for the robotic workplace calibration. The positive effect of the robotic workplace calibration is supported by the results of computer simulation on an ideal robotic workplace model and an experiment at the actual robotic workplace.

• Journal of Korea Society of Digital Industry and Information Management
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• v.20 no.1
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• pp.75-85
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• 2024

This study explored the overall perception of teaching media from the perspective of pre-service teachers. For this purpose, reflection journals written by 138 pre-service teachers were analyzed, and positive and negative perceptions of teaching media were explored. In the reflection diary, pre-service teachers were asked to write down examples of appropriate use of instructional media and the effects of their experiences, cases of inappropriate use of instructional media, and areas requiring improvement. The main research results are as follows. First, the positive aspects of teaching media perceived by prospective teachers were that it presented examples that could help understanding, aroused curiosity to focus attention, and encouraged participation to motivate learning. Second, the negative aspects of teaching media perceived by prospective teachers include cases where the playback time of the video containing learning content is excessively long and the content of the video is unclear or is higher than the learner's level and difficult to understand. This study is significant in that it presents pre-service teachers experiences and perceptions of teaching media and their desirable use methods.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.497-500
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• 1988

The multi-task operating system called HRMTOS (HUNDAI Robot Multi-task Operating System) was developed for concurrent execution. HRMTOS consists of condition interpreter, queue constructor, task scheduler. Condition interpreter checks the status and condition of request, queue constructor makes queue according to the checked result by condition interpreter, and task scheduler finds the task that will be urgently executed by priority of queue after pending the current excuting task. HRMTOS could execute teaching, playback, monitoring function of multi-robot and could be used more effectively than other robot controllers.

• The KIPS Transactions:PartA
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• v.10A no.2
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• pp.173-180
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• 2003

This paper proposes Remote Educating Communication Tool (RECT) that allows students and teachers to communicate using Web-based Bulletin Board System. The distance teaching using DCOM (Distributed Component Object Model) voice module is used to enhance academic accomplishments for students in computer class. The DCOM voice module to be used in distance learning is designed, implemented and applied to teachers and students in the computer class in order to measure and analyze academic results. The RECT server provides Q&A sessions between students and teachers in the BBS using recording and playback functions. The client RECT includes recording and playback functions. The client module of RECT receives and uses DCOM module. When recording, the client transmits voice files with the recorded content to the server.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• The Journal of the Korea Contents Association
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• v.21 no.6
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• pp.744-758
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• 2021

This study is aimed at identifying the possibility and effectiveness of teaching methods education for professors through the development of online teaching content and providing important implications for future online teaching content development and utilization strategies by looking at the differences in the experience and needs of professors who have taken online teaching content. A university surveyed 83 professors who took the seven teaching contents developed between 2015 and 2018, and took them from 2017 to 2019. As a result of the study, professors often took online teaching content for self-development purposes, were satisfied with the overall content, and cited the low psychological burden and resistance of education through personal learning, and the possibility of repeated learning online. The differences between importance and execution in content composition, the areas of statistically significant difference were easy-to-understand delivery, appropriate and sufficient examples, interest and motivation, facilitating interaction between learners, appropriate difficulty, reflection of current trends, appropriate presentation order and ethical composition. The importance level recognized by professors in the area was higher than execution level. In conclusion, opinions for improving online teaching content were appropriate and sufficient examples in the area of content composition, interest and motivation, and reflection of the latest trends. In the area of ease of use, there was stable playback, relay function, and location-independent.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.179.4-179
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• 2001

Most of shoes manufacturing processes are not yet automated, it puts restrictions on increasing of productivity. Among them, adhesive application processes particularly are holding the most workers and working hours. In addition, its working conditions are very poor due to the toxicity of adhesive agents. In case of automating adhesive application processes by using robots, the robot teaching by playback is difficult to produce high productivity because the kinds of shoes to be taught mount up to several thousands. Therefore, it is essential to generate the robot working paths automatically according to the kind, the size, and the right and left of shoes, and also to teach them to the robot automatically ...