• Journal of Welding and Joining
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• v.30 no.3
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• pp.66-70
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• 2012

Welding is an essential process in the automotive industry. Most welding processes that are used for auto body is spot welding. And $CO_2$ arc welding is used in a small part. In production field, $CO_2$ arc welding process is decreased and spot welding process is increased due to welding quality is poor and defects are occurred in $CO_2$ arc welding process frequently. But $CO_2$ arc welding process should be used at robot interference parts and closed parts where spot welding couldn't. $CO_2$ welding is divided into lap welding and plug arc spot welding. In case of plug arc spot welding, burn through and under fill were caused in various welding environment such as different thickness combinations of base metal, teaching point, over the two steps welding and inconsistent voltage/current. It makes some problem like poor quality of welding area and decrease the productivity. In this study, we will evaluate the effect of teaching point through the weld pool behavior and bead geometry in the arc spot welding at the plut hole. Welding position is horizontal position. And galvanized steel sheet of 2.0mm thickness that has plug hole of 6mm diameter was used. Teaching point was changed by center, top, bottom, left and right of the plug hole. At each condition, the phenomenon of weld pool behavior was confirmed using a high-speed camera. As the result, we find the center of plug hole is the most optimal teaching point. In the other teaching point, under fill was occurred at the plug hole. This phenomenon is caused by gravity and surface tension. For performance of arc spot welding at the plug hole, the teaching condition should be controlled at a center of plug hole.

• The Journal of Korean Association of Computer Education
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• v.13 no.5
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• pp.71-80
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• 2010

A lot of studies in and outside the country says that robots can become an effective tool in developing creativity, problem solving skills and positive learning motivation in the knowledge and information era. This study aims to verify the educational effect of robots in mathematics education by applying robots to mathematics education as a learning tool in an effort to improve the teaching/learning environment. For this study, the mathematics curriculum of elementary school and robot programming were analyzed and then a robot integrated mathematics program was developed. The developed program was applied to the mathematics education of an elementary school year 5 over 16 times. The result of the study showed that the experimental group which used the robot integrated program has better learning attitude and problem solving skills than the group which used the traditional method. The result also showed that the mathematics activities that used robot programming contributed to developing problem solving skills and provided positive mathematics learning experience.

• Journal of The Korean Association of Information Education
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• v.18 no.2
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• pp.285-294
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• 2014

Recently, research using robots as a learning tool has increasingly been conducted in K-12 education area. It has been known that hands-on robots give positive educational effect not only on science and mathematics, but on STEAM activity, and help improve the abilities necessary in the 21 century, such as critical thinking, creativity, communication skills, and team work. Despite many research achievements, there is still few research on robot based curriculum to improve the instrumental application of robots in the primary and secondary education fields. In other words, there is a lack of studies of systematic educational contents, educational methods and educational evaluation to increase the instrumental application according to schools and class years. Therefore, this study analyzed domestic and foreign robot based curriculums and relevant cases to develop 'robot' related educational programs in primary school and middle school, suggested the achievement objectives in the robot area as a sub category of the computer science curriculum which will be revised, and proposed teaching-learning method and evaluation method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.10a
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• pp.481-484
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• 2012

Information subject in the revision educational curriculum actually devoted a good deal of space to increase problem-solving ability through programming learning. However, it is not easy for learners to be immersed in the programming teaching by using only computers, which leads to the heavy logical burden in learning. Therefore, many studies are being carried out on the programming teaching by using robots. Moreover, smartphones have been rapidly widespread in the past few years; as a result, the present immersion situation in smartphones and the side effect problems are on the rise. This study tried to develop a programming teaching model to have a significant synergy effect in programming teaching by using robots with the immersion effect in smartphones. This paper attempts to improve programming teaching effectively by introducing the special feature of smartphones: the immersion greatly needed to programming teaching.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.229-233
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• 2001

In this paper, we propose a remote controller for robot manipulator using local area network(LAN) and internet. To do this, we develope a server-client system as used in the network field. The client system is in any computer in remote place for the user to log-in the server and manage the remote factory. the server system is a computer which controls the manipulator and waits for a access from client. The server system consists of several control algorithms which is needed to drive the manipulator and networking system to transfer images that shows states of the work place, and to receive a Tmp data to run the manipulator. The client system consists of 3D(dimension) graphic user interface for teaching and off-line task like simulation, external hardware interface which makes it easier for the user to teach. Using this server-client system, the user who is on remote place can edit the work schedule of manipulator, then run the machine after it is transferred and monitor the results of the task.

• Journal of the Korean Society for Precision Engineering
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• v.8 no.4
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• pp.84-94
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• 1991

In order to achieve high accuracy of teaching and increase productivity using industrial robots in polishing process of dies, an off-line task programming system was developed on IBM-PC/386 under WINDOWS 3.0 operating system. The internal structure and the machematical basis of CAMPoli are described. Surface modeling technique of polishing dies with sculptured surfaces is introduced by poing data interpolation methodology through the use of CL-data transmitted from conventional CAM system. Tool selection, polishing speed, polishing pressure and kinds of tool motions can be determined and selected by user specified polishing variables. Task creation and verification of polishing path via computer graphics simulation of polishing tool can be done by the menu- driven function of CAMPoli system. Post-processing module is attached to generate robot language. Some simulation results are provided as verification means of the system.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.65-68
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• 1995

This paper describes trajectory generation of a riobot arm by self-organizing neural networks. These neural networks are based on competitive learning without a teacher and this algorithm which is suitable for problems in which solutions as teaching signal cannot be defined-e.g. inverse dynamics analysis-is adopted to the trajectory generation problem of a robot arm. Utility of unsupervised learning algorithm is confirmed by applying the approximated solution of each joint calculated through learning to an actual robot arm in giving the experiment of tracking for reference trajectory.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.30-35
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• 1990

Learning control of a robot manipulator is proposed using the backpropagation neural network. The learning controller is composed of both a linear feedback controller and a neural network-based feedforward controller. The stability analysis of the learning controller is presented. Three energy functions are selected in teaching the neural network controller : 1/2.SIGMA.vertical bar torque error vertical bar $^{2}$, 1/2.SIGMA..alpha. vertical bar position error vertical bar $^{2}$ + .betha. vertical bar velocity error vertical bar $^{2}$ + .gamma. vertical bar acceleration error vertical bar $^{2}$ and learning methods are presented. Simulation results show that the learning controller which is learned to minimize the third energy function performs better than the others in tracking problems. Some properties of the learning controller are discussed with simulation results.

• Journal of Industrial Technology
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• v.19
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.159-159
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• 2000

최근 조선분야의 경우 생산원가의 절감, 품질의 고급화, 단순작업에 대한 근로기피 등의 이유로 로봇시스템 적용에 대한 필요성이 크게 대두되고 있다. 그러나 기존의 로봇 시스템의 교시방식이 교시-재생(Teaching-Playback)방식이어서 작업부재의 형상 및 치수가 매번 변경되는 중공업 분야에서는 적용이 불가능하였다. 본 연구에서는 조선용 아크용접 로봇을 위한 오프라인 프로그램밍(OLP: Off-Line Programming) 시스템을 개발하였다. 오프라인 프로그램밍 시스템의 경우 작업중인 로봇과는 상관없이 다음 부재에 대한 형상 데이터만을 이용하여 컴퓨터상에서 다음 작업프로그램을 미리 생성할 수 있으므로 기존의 온라인 교시-재생 방식의 교시시간의 과다라는 문제를 극복할 수 있다. 본 연구에서는 강교 판넬 및 조선 소조립용으로 개발 중인 아크용접용 로봇 시스템을 위한 오프라인 프로그래밍 시스템을 개발하였다. CAD 데이터나 OLP의 모델링 기능으로 작업부재를 형상한 후 미리 데이터베이스화 되어 있는 자료를 검색하여 부위별 작업매크로 확보를 위하여 실제 로봇 시스템을 이용한 작업테스트를 수행하였다. 개발된 오프라인 프로그래밍 시스템은 기능보완 후 당사 아크용접용 로봇시스템에 적용될 계획이다.