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사용자 친화적이고 직관적인 티칭을 위한 충돌예측기능을 포함하는 탈착형 로봇 교시 장치
도현민(Hyunmin Do),김휘수(Hwi-Su Kima),김의겸(Uikyum Kim),최태용(Tae-Yong Choi),박종우(Jongwoo Park),박동일(Dong Il Park),박찬훈(Chanhun Park),경진호(Jinho Kyung),김두형(Doo Hyeong Kim) 한국생산제조학회 2021 한국생산제조학회지 Vol.30 No.1
Increasing demand for automation and recent intact trends have accelerated the employment of robots in manufacturing and service areas. Thus, the need for an easy and efficient robot teaching is also increasing. In this paper, a novel concept of intuitive teaching device is proposed to overcome the weakness of the previous research that enables direct teaching by attaching the teaching device to the end effector of the robot and to improve the intuitiveness and operability. The teaching and collision prediction units are modularized according to their function and can be combined or disassembled. The manipulability is improved by lowering the height of the teaching device, and the influence on the payload is minimized by reducing the weight of the teaching device. A prototype is implemented, and the performance is verified through experiments by attaching the proposed teaching device to an industrial robot and performing teaching and playback tasks.
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.
최태용(Taeyong Choi),도현민(Hyunmin Do),박찬훈(Chanhun Park),박동일(Dongil Park),김두형(Doohyeong Kim),경진호(Jinho Kyung) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.6
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.
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.
병렬로봇의 설계공차 설정에 따른 기계적 정밀도의 영향 분석
박찬훈(Chanhun Park),김두형(Doohyung Kim),도현민(Hyunmin Do),최태용(Taeyong Choi),박동일(Dongil Park),김병인(Byungin Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.10
In this paper, important design parameters for parallel kinematic robots are defined, paying special attention to machining errors which may cause kinematic errors at the end effector of a robot. The kinematic effects caused by each design parameter, as well as their upper/lower limits, are analyzed here. To do so, we have developed a novel software program to compute kinematic errors by considering its defined design parameters. With this program, roboticists designing parallel kinematic robots can understand the important design parameters for which upper/lower allowances have to be strictly controlled in the design process. This tactic can be used for the design of high-speed, parallel kinematic robots to reduce the design/manufacturing costs and increase kinematic precision.
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.