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김영운(Youngoon Kim),황순웅(Soonwoong Hwang),김현국(Hyeonguk Kim),신규식(Kyoosik Shin),한창수(Changsoo Han) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
Recently many researchers have been studying new methods to improve the energy efficiencies of existing products for solving energy problems. In the field of robotics, the efficiencies of industrial robots are to be increased since many industrial robots are being used in the manufacturing field. This study proposes a design methodology of industrial robot for increasing energy efficiency. This methodology are composed of two methods. One is deciding optimal link mass based on joint torque optimization and the other is designing robust link using topology optimization to overcome reaction forces when it perform the specified task.
김동형(Dong-Hyung Kim),최윤성(Youn-Sung Choi),김현국(Hyeonguk Kim),전명재(Myoungjae Jun),백성훈(Sunghoon Back),이용석(Yongseok Lee),이지영(Ji Yeong Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.3
This paper proposes an algorithm for the trajectory planning of a dual-arm robot. Since the original collision-free path obtained in a probabilistic manner is unnecessarily jerky, it may induce high acceleration in the robot’s actuators, so we regard this as a low-quality path. We propose a B-spline trajectory planning algorithm that transforms the path into a collision-free and smooth trajectory to improve its quality. We applied our proposed algorithm to a cell-phone assembly task using a dual-arm robot as a specific application example. The simulation results show that the smooth and collision-free trajectories can be generated for the task with our motion planning simulator.