• 제목/요약/키워드: Working Robot

검색결과 347건 처리시간 0.028초

단조공정 트리밍작업 자동화를 위한 병진관절을 갖는 7축 다관절 로봇의 최적 작업경로제어에 관한 연구 (A Study on Optimal Working Path Control of Seven Axes Vertical Type Robot with Translation Joint for Triming Working Automation in Forming Process)

  • 김민성;최민혁;배호영;임오득;강정석;한성현
    • 한국산업융합학회 논문집
    • /
    • 제21권2호
    • /
    • pp.53-62
    • /
    • 2018
  • This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.

로봇 어플리케이션을 위한 협업 프레임워크 설계 (The Design of Collaboration Framework for Robot Application)

  • 이창묵;권오영
    • 정보처리학회논문지A
    • /
    • 제17A권5호
    • /
    • pp.249-258
    • /
    • 2010
  • 로봇 어플리케이션의 활용도는 사회 전반에서 점차 확대되고 있지만 로봇들의 컴퓨팅 자원 차이로 인해 한 로봇에서 다양한 어플리케이션을 실행하기는 힘든 실정이다. 본 논문에서는 로봇이 주변 장치와의 자원 공유를 통해 자원의 제약을 극복하는 프레임워크를 제안한다. 프레임워크는 협업에 요구되는 공통 구성 요소들을 정의하고 어플리케이션을 쉽게 제작할 수 있는 API를 제공한다. 로봇과 다른 장치가 네트워크로 연결된 환경에서 동작하는 로봇을 이용한 체조 학습 어플리케이션의 예시를 통해 프레임워크의 동작 흐름을 보인다.

WELDING AUTOMATION TECHNOLOGIES IN SHIPBUILDING INDUSTRY

  • Lee, Gi-Ho
    • 대한용접접합학회:학술대회논문집
    • /
    • 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
    • /
    • pp.412-417
    • /
    • 2002
  • In manufacturing of ships, problems to be solved are improvement of productivity and stabilization of quality due to the shortage of skilled workers. Working environment, in particular welding environment, is also to be improved. One solution among these problems is to rationalize and automate these working. This paper is focused on the welding automation technologies in shipbuilding industry. The features of shipbuilding in the aspect of automation are described, and the main welding robot systems to be developed by SRI are introduced in each working stages.

  • PDF

산업현장 적용을 위한 착용식 근력증강 로봇의 설계 (Wearable Robot Design for Industrial Application)

  • 하태준;이지석;백성훈;김석환;이정엽
    • 한국정밀공학회지
    • /
    • 제29권4호
    • /
    • pp.433-440
    • /
    • 2012
  • Various studies to improve the physical abilities of the human have been steadily continued from the past to the present. Only recently such technology has been realized, and those are expected to replace or complement human beings in large part. In this paper, the current status of developed wearable robots is investigated and studies were conducted in order to apply the types of robots in industry spot. In order to apply wearable exoskeleton robot to industry which enhances human physical capability, driving range of the robot's degrees of freedom were selected by analyzing working motion, and augmentative exoskeleton structure design process is presented by analyzing require torque and power during selected working motion. At the end of this paper, the designed mock-up is introduced to validate the feasibility of designed robot.

다중 측정 좌표계를 이용한 로봇 캘리브레이션 방법 연구 (Study on Robot Calibration Using Multi-measurement Coordinate System)

  • 임생기;김정태;범진환;최재성
    • 한국정밀공학회지
    • /
    • 제16권3호통권96호
    • /
    • pp.164-173
    • /
    • 1999
  • Robot calibration needs accurate measurements of robot end-effector position at a number of different robot configurations. One of the efficient ways of the measurement is "Touching on Jig" method suggested in [7], which utilizes a touch sensor and a fixture consisting of various sizes of blocks. By moving the end-effector to touch the surface of a block whose position relative to the other is known, the end-effector position relative to the fixture coordinate system can be obtained at the instant of touching. However, the global size of fixture is too small to cover the various configurations of the robot. Because of the manufacturing difficulties, the fixture cannot be manufactured large enough for well distributed position measurement. It results in the improvement of robot accuracy only in the limited space near to the fixture rather than over the whole space of the robot working volume. The paper proposes a method to resolve the above problem by measuring the end-effector positions with respect to several different coordinate system using the same measurement devices. It is found that the proposed method leads the improvements of robot position accuracy over the large space of working volume. The experimental studies are performed to show the validity of the method and their results are discussed.

  • PDF

용융아연욕 부유물 제거용 로봇시스템 개발 (Development of a robot system for removing top dross on a zinc pot)

  • 임태균;박상덕;이옥산
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
    • /
    • pp.1488-1491
    • /
    • 1996
  • Throughout CGL(Continuous Galvanizing Line) in steel works, zinc-coated steel sheets are produced which are used where long-running corrosion resistivity is required. During the galvanizing process, top dross is created and floated on the zinc pot. Because the dross leaves ill patterns on the coated sheets, it is removed manually with shovel-like tools in about twenty minutes. Because, however, the working environment is very noisy, hot and harmful to human workers, a robot system is developed and implemented on a real plant to automatically remove the top dross. It consists of a robot and its carriage system, a pot level sensor, a system controller, and special tools to collect, pick up, and put the top dross into a dross waste basket. A system software is developed to monitor the system status. A series of tests were performed to verify the robot motion and adaptation to working conditions, and proved successful work.

  • PDF

A Study on Trajectory Tracking Control of Field Robot

  • Seo, Woo-Seog;Kim, Sung-Su;Yang, Soon-Yong;Lee, Byung-Ryong;Ahn, Kyung-Kwan
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 2001년도 ICCAS
    • /
    • pp.132.4-132
    • /
    • 2001
  • Field robot represented by excavator can be applied for various kinds of working in manufacturing, construction, agriculture etc. because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. In general, the dynamics of field robot have strong coupling, various kinds of non-linearity, and time varying parameters according to working conditions. Therefore, it is very difficult to describe the system well, and design controller systematically based on its model. This paper established the mathematical model of field robot driven by electro-hydraulic servomechanism and constructed the adaptive control system robust to external load variations. The proposed control system for the field robot was evaluated by the computer simulation, and the performance results of trajectory tracking were compared with that of PID control system.

  • PDF

트로이선 가설 작업 로봇의 장력 및 이동 제어에 관한 연구 (Hybrid Tension/Mobile Control of working Robot for installed Troy Cable)

  • 홍정표;원태현;김문수;홍순일
    • 전력전자학회:학술대회논문집
    • /
    • 전력전자학회 2007년도 하계학술대회 논문집
    • /
    • pp.455-457
    • /
    • 2007
  • The objective of this study is development of a installed working robot for a troy cable with mobile and tension system. In this paper, an approach to designing controllers for dynamic hybrid Tension/Mobile control of a installed robot for a troy wire cable is presented. Mobile control system of robot is designed based on equation of dc motor and motion for moving robot and tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a wire cable. The control parameters is determined by simulation in independence operation of two system.

  • PDF

Development of the Medical Support Service Robot Using Ergonomic Design

  • Cho, Young-Chul;Jang, Jae-Ho;Park, Tong-Jin;Han, Chang-Soo
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 2003년도 ICCAS
    • /
    • pp.2660-2664
    • /
    • 2003
  • In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

  • PDF

Automatic Vowel Sequence Reproduction for a Talking Robot Based on PARCOR Coefficient Template Matching

  • Vo, Nhu Thanh;Sawada, Hideyuki
    • IEIE Transactions on Smart Processing and Computing
    • /
    • 제5권3호
    • /
    • pp.215-221
    • /
    • 2016
  • This paper describes an automatic vowel sequence reproduction system for a talking robot built to reproduce the human voice based on the working behavior of the human articulatory system. A sound analysis system is developed to record a sentence spoken by a human (mainly vowel sequences in the Japanese language) and to then analyze that sentence to give the correct command packet so the talking robot can repeat it. An algorithm based on a short-time energy method is developed to separate and count sound phonemes. A matching template using partial correlation coefficients (PARCOR) is applied to detect a voice in the talking robot's database similar to the spoken voice. Combining the sound separation and counting the result with the detection of vowels in human speech, the talking robot can reproduce a vowel sequence similar to the one spoken by the human. Two tests to verify the working behavior of the robot are performed. The results of the tests indicate that the robot can repeat a sequence of vowels spoken by a human with an average success rate of more than 60%.