• International Journal of Control, Automation, and Systems
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• 제1권3호
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• pp.395-400
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• 2003

A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that, by using the force/moment direction sensor method, the teaching times were reduced by 25% for Task A and 45% for Task B compared to the teaching pendant method.

• 대한인간공학회지
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• 제9권2호
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• pp.21-28
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• 1990

The robot motion control in the industrial robot is generally executed by the teach pendant. But, it requires much teaching time and workload to the operators. This study suggests the use of the robot motion control method by the computed keyboard in the industrial robot instead of the teach pendant. TES/CCS(Teaching Expert System/Cartesian Coordinate System) and TES/WCS(Teaching Expert System/World Coordinate System) that have been proposed to improve the robot motion control are applied for this concept. This study is intended to improve the robot motion control in TES/CCS. Parameter limitation problems in getting the motion data on position and posture of the robot in macro motion control are solved by proposed geometric algorithm. This result demonstrates reduction of the average teaching task time to the teaching position.

• 로봇학회논문지
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• 제15권4호
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.113-118
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• 2005

Robots today have wider application fields than they ever have before. They need to work close to humans and fluid and compliable motions are expected of them. This requires redundant degrees of freedom for completing specific task. And conventional motion teaching method cannot be applied to redundant link structures. In this paper, the authors present a proficient, cost-effective and intuitive method for motion teaching. New software to apply this method to a humanoid is also presented. This new method utilizes current sensors to determine which joints to rotate. The experiment shown in this paper is a case of closed link where arms cannot move independently due to the restrictions in between the hands. After the input of several passing points of motion trajectory, the curve fitting is performed by the developed software. This software can insert new points, delete erroneous points and modify existing points. The developed motion teaching method is applied to the Kumdo robot, which is developed by the authors.

• 대한인간공학회지
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• 제8권2호
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• pp.19-26
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• 1989

This study, as a part of integrated human-robot ergonomics, improves the robot motion control on the robot task in the TOES/WCS whose purpose is improving the teaching task constructed in the previous study. First, the updated combined fuzzy process using a new membership function with Weber's law is constructed for the purpose of coordinate reading of the end points in the macro motion control. Second, an algorithm using the geometric analysis is desinged in order to calculate position values and posture values of the robot joints. Third, the MGSLM method is designed to remove unnecessary the robot motion control caused by the GSLM method in the micro motion control. Consequently, proposed methods in this study lessen burdcn of a human of an improvement of the robot motion control and reduce the teaching time of a human operator and inaccuracy of the teaching task, which contribute to the integrated human-robot ergonomics.

• 대한인간공학회지
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• 제8권1호
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• pp.41-46
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• 1989

The purpose of this study is to improve robot motion control in teaching and operating the expert system/world coordinate system (TOES/WCS) constructed in the previous study. The major contribution of this study is reduction of the inaccuracy in coordinated reading and the movement time of robots in macro motion control. This study also reduces undesirable time of micro motion control by using an unit control (UC) and a micro unit control (MUC) in micro motion control.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• 대한인간공학회지
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• 제9권1호
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• pp.21-27
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• 1990

Teaching Expert System/World Coordinate System(TES/WDS) was proposed to improve robot motion control. First, precise coordinate reading for getting the inherent data about position and posture of task objects was performed throgh the integrated image and fuzzy processing. Second, singularity and parameter limitation problems in getting the motion data about position and posture of robot in macro motion were solved by proposed geometric algorithm. Third, the unnecessary robot motion was also removed by the Robot Time and Motion (RTM) method and the Multi-Geometric Straight-Line Motion (MGSLM) method in micro motion. This results demonstrated reduction of the average teaching task time according to task order.

• 한국과학교육학회지
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• 제28권4호
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• pp.302-315
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• 2008

원운동은 물리수업에서 중요한 주제 중 하나이다. 특히, 등속 원운동은 우리나라 중등 교육과정에서 반드시 다루는 핵심 내용이다. 학생들은 원운동 학습 시 많은 어려움을 겪으며, 수업 후에도 이러한 어려움들이 잘 해소되지 않아서 다양한 교수 학습 방법이 적용되어 왔다. 그러나 학생들은 수업 전에 이미 가지고 있는 원운동에 대한 선개념을 수업 후에도 지속시킬 뿐 아니라, 원운동 학습 자체에 대한 어려움을 많이 제기하고 있다. 이에 본 연구에서는 원운동 학습 어려움 해소를 위해 통합적 정신모형 이론에 기반한 4M 순환학습 수업모형과 전략을 토대로 수업자료를 개발하였다. 그리고 이를 인천 소재 실업계 고등학생 53명을 대상으로 수업을 실시하여 기초 물리개념과 원운동 정신모형의 변화를 알아보았다. 분석 결과, 학생들의 기초 물리개념과 원운동 정신모형의 Correctness, Coherence, Completeness가 모두 향상되었음을 확인하였다.

• 과학교육연구지
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• 제39권3호
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• pp.333-342
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• 2015

이 연구는 단계적 상황 교수자료를 개발하고 대학 물리학 수업에 적용하여 물리 학습에 대한 효과를 조사하는 데 있다. 연구대상은 지방 소재 대학의 사범대학 자연계열 1학년 대학생 총 35명으로 했다. 단계적 상황 교수자료는 상황 이상화하기, 상황 확장하기, 상황 비교하기 단계로 개발하고, 일차원 운동, 이차원 운동, 뉴턴의 운동 법칙 등 6차시 물리 수업에 적용했다. 물리 학습에 대한 효과는 힘 개념 검사지(FCI)와 물리 학습에 대한 신념(MPEX) 설문지를 사용하여 조사했다. 연구결과 단계적 상황 교수자료는 대학생의 힘 개념 변화에는 효과가 있었지만, 물리 학습에 대한 신념에는 유의미한 변화가 없었다. 결론적으로 단계적 상황 교수 학습 전략으로 개발된 교수자료는 학생에게 과학개념을 다양한 상황에 적용하는 기회를 주어 물리 개념 변화를 돕는 데 효과가 있다. 끝으로 연구 결과들을 통해 단계적 상황 물리 수업에 대한 교육적 시사점을 논의했다.