• 한국산업융합학회 논문집
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• 제22권3호
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• pp.281-292
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• 2019

This paper proposed a new technology to control a path forging parts in limited narrow space of manufacturing process automation for smart factory. In the motion control, we adapted the obstacle avoidance technology based on ultrasonic sensors. The new motion control performance test for a mobile robot is experimented in narrow space environments. The travelling path control is performed by a fuzzy control logic. which plays a role for selecting an appropriate behavior in accordance with the situation in the vicinity of the mobile robot. Ultrasonic sensors installed at the front face of the mobile robot are used. In order to update the current position and heading angle of the mobile robot, a new approch is adapted. The reliability is illustrated by simulation and experiments.

• 한국생산제조학회지
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• 제8권2호
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• pp.108-115
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• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$3 to $\pm$0.1.

• 한국생산제조학회지
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• 제6권4호
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• pp.54-64
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• 1997

This paper provides a practical control scheme called three-step input method in order to minimize both robot response time and the resulting residual vibration when the robot manipulator reaches its defined end point. This work is concerned with defining a simple practical method to utilize step inputs to achieve optimum response. The optimum response is achieved by using a self- adjusting input command function that is obtained during a real time processing . The practicality of this control scheme is demonstrated by using an analog computer to simulate a simulate a simple flexible robot and conventional servo controller. The experiments focus on point-to-point movement. Also, this method requires little computational effort through the intelligent use of conventional servo control technology and the robot's vibration characteristics.

• 한국생산제조학회지
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• 제26권1호
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• pp.121-129
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• 2017

In this study, we investigated a cooperative control system of assembly robots using wireless LAN. We developed two different types of robots to assemble three blocks on a workbench. Robot1 can assemble blocks on a workbench and Robot2 can carry blocks to Robot1. We constructed an ROS-based communication system and shared data. Three blocks and one workbench were recognized by camera-image processing By developing the UI using Windows programming language Visual C#, we evaluated the status of the robots and blocks and controlled the robots. The control system was developed by constructing all elements necessary for cooperative control, such as robot design and fabrication, motor control, ROS-based communication, and image processing. Thus, we completed fundamental tasks required for assembly.

• 로봇학회논문지
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• 제2권1호
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• pp.103-108
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• 2007

Intelligent Robot is considered as one of the Next Generation Growth Engine in many countries. The application fields are expected to be widen from 80's robotics for manufacturing to many applications such as military, space, medical, personal, etc. To reduce the R&D investment risk Technical Roadmap is prepared by Japan, Europe and Korea. In this paper, the technical Roadmap of the countries was analysed to get the idea of future of Robotics. Robotics is considered as one of solutions of future aged society. Robot can assist and company with elderly people in the near future. On the other hand, Robot is considered as a core technology of manufacturing competitive power. Industrial competitiveness also would be dependent on robot technology. Special Service robot has many application areas and each country has different target based on the situation. With the comparison of technical roadmap, we have suggested some ideas to improve Korea's roadmap.

• 한국기계가공학회지
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• 제14권5호
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• pp.8-14
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• 2015

Heat treatment for car body molds is mainly a manual process performed by a worker. The performance of this process is affected by workers' skill level, and has limitation in maintaining uniform product quality. In this study, we developed a diode laser heat treatment robot system that implements an OLP type simulator to overcome the limitation of manual process, and to improve and stabilize the quality level. In addition, we verified the efficiency of the robot system and mechanism stability from the early stage through design verification and simulated analysis in the development stage. In addition, we carried out a field test to study the way to establish optimized D/B for diode laser heat treatment criteria for car body molds, such as heat treatment speed, interval, etc. via site experiment.

• 한국생산제조학회지
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• 제22권2호
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• pp.256-262
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• 2013

This paper presents a linear path control algorithm for NeuroMate robot in a skull drilling system. For the path control inverse kinematics of the robot is analyzed and a linear interpolation algorithm is presented. A geometric approach is used for solving inverse kinematic equations for the robot. Four feasible solutions are found through the approach. The approach gives geometric insights for selecting the best solution from the feasible solutions. The presented linear interpolation algorithm computes a next position considering current velocity and remaining distance to the target position. Presented algorithm is implemented and tested in a skull drilling system.

• 한국생산제조학회지
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• 제11권3호
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• pp.21-27
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 ares SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.622-628
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• 2013

This paper describes the development of a thigh-muscle strength-assistance robot, which is a kind of wearable robot. For practicality and commercialization, we proposed three fundamental concepts: the reduction of the thigh-muscle strength, minimized degree of dependence on a powered actuator, and complete wearer safety. Based on these concepts, a spring and link bar mechanism was conceived as a novel idea. The movement of the thigh is transferred to the spring mechanism through the link bar; hence, the elastic force of the spring assists the thigh muscle. Using forse sensing resistor (FSR) sensors and a powered cam mechanism, the muscle assistance is automatically activated and deactivated according to the wearer's movement. The specific mechanisms of the robot are addressed in detail, and the effectiveness is verified by experiments.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2005년도 춘계학술대회 논문집
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• pp.419-423
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• 2005

In microfactory, loading/unloading mechanism supply the row material to processing machines for manufacturing process such as pressing, cutting, plastic deformation. This mechanism for rnicrofactory is designed as modularity robot. Microfactory system have to be flexible structure for variety product item. For system flexibility, applied mechanisms are developed as moduality. Robot moduality needs the specific characteristics which are different from one of macro, typical robot system. In this paper, we discussed about the modularity robot. and proposed the loading/unloading mechanism for working in microfactory system.