• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.41-46
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• 1990

In the existing robot programming methods, off-line method becames important role of programming because of improvement of hardware and software of PC. The purpose of this study is to develop practical robot programming system for polishing task using PC. In the first place, we have investigated the existing robot programming systems, and derived the requirement of this programming system from the existing systems. And we have decided the structure of this system. After that, we have developed this system. Using Windows software, this programming system has man/machine interface function. So users can use easily and quickly.

• 한국기계연구소 소보
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• 통권20호
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• pp.33-39
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• 1990

In the existing robot programming methods, off-line method because important role of programming because of improvement of hardware and softeare of PC. The purpose of this study is to develop practical robot programming system for polishing task using PC. In the first place, we have investigated the existing robot programming systems, and derived the requirement of this programming system from the existing systems. And we have decied the structure of this system. After that, we have developed this system. Using Windows software, this programming system has man/machine interface function. Therefore users can use easily and quickly.

• 한국정밀공학회지
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• 제20권12호
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• pp.80-88
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• 2003

We propose a new technique to design an unmaned integrating control system based-on Windows XP version off-Line Programming System which can simulate a dynamic model of robot manipulator in three dimensions graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off$.$line programming system in the Windows XP'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 three dimensions graphics.

• 대한기계학회논문집A
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• 제21권1호
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• pp.62-72
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• 1997

High flexibility and productivity using industrial robots are being achieved in manufacturing lines with off-line robot programmings. A good off-line programming system should have functions of robot modelling, trajectory planning, graphical teach-in, kinematic and dynamic simulations. Simulated results, however, can hardly be applied to on-line tasks until any calibration procedure is accompained. This paper proposes a visual calibration scheme in order to provide a calibration tool for our own off-line programming system of SCARA robots. The suggested scheme is based on the position-based visual servoings, and the perspective projection. The scheme requires only one camera as it uses saved kinematic data for three-dimensional visual calibration. Predicted images are generated and then compared with camera images for updating positions and orientations of objects. The scheme is simple and effective enough to be used in real time robot programming.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.412-412
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• 2000

This paper presents a task teaching method for off-line programming of a multi-robot system. Teaching commands were developed in order to simplify a complex teaching process, to shorten the setup time for new working environment and to have flexibility for changes in working environment. Four teaching commands can be used to automatically generate trajectories of an end-effector of the robot in electronics assembly line. The robots used in the work cell are a four-axis SCARA robot and six-axis articulated robot. Each robot is controlled in a independent way while objects, working environment and robots are modeled in corresponding modules, respectively. The off- line programming system developed uses OpenGL for a smooth graphic effect in Window s where three dimensional CAD data can be leaded for graphical modeling.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1731-1734
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP'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.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.319-326
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The industrial robot with 4 and 6 axes modeled SM5 and AMI respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP'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.

• 한국자동차공학회논문집
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• 제3권6호
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• pp.199-211
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• 1995

As international market pressures increase, product life cycles are becoming shorter at same time requirements for productivity and flexibility are becoming higher. Major improvement in robot programming user interface is central to increasing productivity and flexibility for automatic manufacturing environments. New computer technologies have the potential to accomplish this improvement. In this study we have developed a system which proves that interactive computer graphics and geometric modeling have matured to the point where their artful application into an integrated system can rsult in radically new and powerful user interface for robot programming. With the graphic user interface environment the system efficiently utilizes the existing CAD data and gemetric modeling techniques for off-line programming and simulations. Also the system successfully generates robot control programs performing the desired tasks given through off-line programming.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.40-43
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• 1996

An off-line programming, OLP, system is widely used in automation fines. To help an on-line robot system to carry out desirable tasks planned by the off-line simulation, an approach to the real-time communication is presented. The OLP system developed consists of a software, a host computer(PC), a SCARA robot body, four servo drivers, and four independent joint controllers. This study focuses on the software where real-time communication is included. The software, can be used in teaching, trajectory planning, real-time running, and performance evaluation. The evaluation of different control algorithms is one of the merits of the software. The software can give servo commands for task running. A comparison of generated and corresponding actual trajectories provides the evaluation of task performance. The safety, of the OLP system is ensured by alarming malfuntions of the system. The OLP system developed can reduce the teaching time and increase the user's convenience.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.235-240
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• 2004

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test and construction of simple silhouette figures. Then camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.