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최태용(Taeyong Choi),경진호(Jinho Kyung),도현민(Hyunmin Do),박찬훈(Chanhun Park),박동일(Dongil Park) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.12
There is an increasing need for manufacturing systems to produce batches in small quantities. Such manufacturing systems are significantly difficult to develop with conventional automation equipment. Recently, several research groups have applied industrial dual-arm robots to cell production lines. A synchronization method for robots is necessary for the cell production process when robots work in a shared workspace. Conventional automation factories do not need this method because the main control system operates all of the machines or robots. However, our intended application for the developed robot is in small manufacturing environments that cannot install an expensive main control system. We propose an inexpensive and high-performance method with a simple digital in/out channel using a real-time communication protocol. The developed method was validated in a pilot production line for cellular phone packing.
텐던 구동 기반 여유자유도를 가지는 로봇의 어깨 메커니즘 구현
최태용(Taeyong Choi),김두형(Doohyung Kim),도현민(Hyunmin Do),박찬훈(Chanhun Park),박동일(Dongil Park) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.10
Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs . To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.
임무에 따른 하박 교체형 고 가반하중 양팔로봇의 설계: 구난 및 물체 핸들링
김휘수,박동일,최태용,도현민,김두형,경진호,박찬훈,Kim, Hwisu,Park, Dongil,Choi, Taeyong,Do, Hyunmin,Kim, Doohyeong,Kyung, Jinho,Park, Chanhun 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.4
Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.