• Journal of the Korean Society for Precision Engineering
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• v.20 no.1
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• pp.107-117
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• 2003

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, an automatic polishing robot system was developed. The polishing robot system is composed of two subsystems, a three-axis machining center and a two-axis polishing head. The machining center is controlled by a FANUC controller, and the polishing head by DSP controller. The system has five degrees of freedom and is able to keep the polishing tool normal to the die surface during operation. To easily operate the developed polishing robot system, this study developed an integrated operating program in the Windows environment. The program consists of five modules: a polishing data generation module, a code separation module, a polishing module, a graphic simulator module, and a teaching module. And, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. Also, to evaluate the performance of the integrated operating program and the polishing robot system, polishing experiments of a die of shadow mask were carried out.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.69-76
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• 2004

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, an automatic polishing robot system was developed. The polishing robot system is composed of two subsystems, a three-axis machining center and a two-axis polishing head. The machining center is controlled by a FANUC controller, and the polishing head by DSP controller. The system has five degrees of freedom and is able to keep the polishing tool normal to the die surface during operation. To easily operate the developed polishing robot system, this study developed an integrated operating program in the Windows environment. The program consists of five modules: a polishing data generation module, a code separation module, a polishing module, a graphic simulator module, and a teaching module. Also, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. Also, to evaluate the performance of the integrated operating program and the polishing robot system, polishing experiments of a die of shadow mask were carried out.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.7
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• pp.1525-1530
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• 2014

In this research, we describe teaching based sweeping control for grinder robot has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Teaching method is used for grinder robots operations because of their position accuracy, path accuracy, and machining reaction force. A grinder robot for two-dimensional iron plate was developed on the basis of an force sensor based teaching method. An automatic-path-generation method and experimental results using specific points was adopted to reduce the number of teaching points and time. And also, in order to determine the proper machining conditions, various machining conditions such as grinder-wheel rotation speed and robot moving speed, were evaluated.

• Journal of The Korean Association of Information Education
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• v.11 no.2
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• pp.195-203
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• 2007

Together with the development of ubiquitous computing technology and robot technology, intelligent type robots are being utilized in many areas and the range is expected to become wider and wider. Among many service robots, the educational robots are being diversely studied in the field with the concept of r-Learning. Presently, teaching assistant robots require a lot of HRI studies prior to their practical use in the very near future and are not sufficient yet. Especially, the reactions of students based of the styles of robots (e.g. serious robot, playful robot) are very important in producing robot contents but there has been no case study on them. Therefore, in this study, the appearance of the IROBI was changed to become a teaching assistant robot and was used to test and compare elementary school students' interest, achievement and concentration depending on the styles of robot (playful, serious). The results showed that the interest was high in the group that had studied with the playful robot. The achievement however, did not show significant relations with the style of robot and that the concentration was high in the group that had studied with the serious robot.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.122-122
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• 2000

Polishing work of a free-curved surface die demands simple and repetitive operations but requires a considerable amount of time for high precision. In out previous study, to reduce the polishing time and solve the problem of the shortage of skilled workers, the automatic polishing system was developed. However, in the polishing process of die, workers have to stay still in factory to monitor the polishing process for a long time in the poor environment. Therefore, this study proposes the remote operation and monitoring system of the automatic polishing robot. The developing system offer worker monitoring functions and teleoperating functions, as following: system state check, manual manipulation mode, automatic mode, manual teaching mode, automatic teaching mode, simulation by virtual manufacturing device. And automatic teaching system is developed to easily obtain a teaching data.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.6
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• pp.615-621
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• 2013

The robot calibration has greatly improved the absolute accuracy of the industrial robot. However, the accuracy of the relative positions of robotic tool-tip at work-points on a work-piece is only slightly corrected by the robot calibration since there has been no practical method to eliminate the elements of the setup position errors at a robotic workplace. A robotic workplace calibration is demonstrated in this paper to minimize the relative position errors between a robot tool-tip and the work-point on a work-piece. The existing teaching and playback method has been developed for the robotic workplace calibration. This paper uses the work-piece fixed in a robotic work-place as measurement equipment instead of a special robot measurement equipment for the robotic workplace calibration. The positive effect of the robotic workplace calibration is supported by the results of computer simulation on an ideal robotic workplace model and an experiment at the actual robotic workplace.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.492-497
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• 2016

Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.

• Journal of Engineering Education Research
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• v.18 no.6
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• pp.3-10
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• 2015

The purpose of this study was to analyze STEAM learning/teaching program that relates robots and to develop and redesign STEAM teaching/learning program with a robot for elementary and secondary schools. 'Learning with a robot' is considered as one of the best candidates for STEAM education. This article mainly concerns a robot that can be helpful to improve students' interests in learning science and mathematics in schools. As the results of the STEAM learning/teaching program analyzing, the program for elementary schools contained more contents of liberal arts and fine arts, and the program for secondary schools contained more contents of science, technology, and math. In the middle school program, context for learning, class activities of creative design and emotional touch, evaluation, and job and career information were evenly implemented. In the elementary and high school program, there were few information about robotics career. We extracted all robot utilizable subjects and units from school curriculums, and redesigned contents which can be applicable to regular classes for schools. As the result of this study, we conclude that 'learning with a robot' can encourage students' interests in STEM area.

• Archives of design research
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• v.20 no.3 s.71
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• pp.107-118
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• 2007

The aim of this paper is to suggest a design guideline for a teaching assistant robot by finding out images that satisfy the role of the teaching assistant robot, and to search for a body features that show such images. Role images of teaching assistant robots were established from literature review and factor analysis. And eight elements of body features were extracted from human's elements of body feature. Robot external form samples varied according to the body feature was modeled three-dimensionally. Children, who are the main users of teaching assistant robots, valuated the 3D robot samples projected onto wall in real size. The valuation basis was role images of teaching assistant robots, adjectives about age and gender, preference, and appropriateness as teaching assistant robots. The result of valuation was analyzed by analysis of variance, and analysis of correlation. The result revealed the fact that four elements of body feature (the ratio of head length, height, the ratio of breast girth, and waist girth) were related to role images. Among these elements, height and waist girth was more important than the rest, particularly, waist girth had strong relation with all the role images. Also, in order to reveal tender and kind image, the ratio of head length was proved to have to be adjusted according to waist girth. On the basis of these result, a design guideline for a teaching assistant robot was suggested.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.38-44
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• 2009