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Design Optimization Method for 7 DOF Robot Manipulator Using Performance Indices
황순웅,김현국,최윤성,신규식,한창수 한국정밀공학회 2017 International Journal of Precision Engineering and Vol.18 No.3
This paper proposes an optimal design method for the design parameters that affect the performance of 7 degrees of freedom (DOF) serial manipulators. The proposed method optimizes the manipulator parameters by using performance indices related to the distribution of inertia, while considering the workspaces and dexterity that correspond to the kinematic performance, and the energy that corresponds to the dynamic performance. The Structural Length Index (SLI) and Global Conditioning Index (GCI), which are kinematic performance indices, and the Modified Dynamic Conditioning Index (MDCI), which is a dynamic performance index, were used as objective functions. After deriving the parameters that affect manipulator performance through these performance indices, a Genetic Algorithm was used for the optimization. This method should be helpful in theoretically designing those parameters that have been created by relying on experience, thus far, in the initial conceptual design stage in 7 DOF manipulator designs.
에너지 효율 향상을 위한 직렬형 머니퓰레이터의 관성 파라미터 설계 최적화 방법
황순웅(Soon-Woong Hwang),김현국(Hyeon-Guk Kim),최윤성(Youn-Sung Choi),신규식(Kyoo-Sik Shin),한창수(Chang-Soo Han) 한국산학기술학회 2016 한국산학기술학회논문지 Vol.17 No.11
이 논문은 직렬형 머니퓰레이터의 관성 성질을 고려하여 에너지 효율을 향상 시키기 위한 설계 방법에 대해 논하였다. 이 방법은 운동방정식에 가장 많은 영향을 끼치는 관성 행렬을 분석하여 최적화 문제의 구속 조건에 대입하는 방식이다. 이를 위해, 첫 번째로 초기에 설계된 머니퓰레이터에 대한 동적 모델링을 도출하고 여기서 표현되는 관성 행렬의 특성을 분석한다. 두 번째로 분석된 관성 행렬의 변화 정도를 정량화하는 지표를 정의하여 구속 조건과 설계 파라미터의 경계조건을 설정하였다. 마지막으로 토크를 목적 함수로 정하고 앞서 정의된 구속 조건과 경계조건을 통하여 최적화를 수행한다. 또한, 목적 함수 외에 관성, 에너지 및 질량에 관련된 보조 지표를 정의하고 최적화된 파라미터가 요구성능을 만족하는지 다시 한번 확인하는 과정을 거치는 설계 알고리즘을 제안하였다. 제안한 설계 알고리즘의 수행 결과로 토크 최소화를 통하여 에너지 효율이 향상되었으며, 제안된 방법을 공간상의3 자유도 직렬 머니퓰레이터에 시뮬레이션 테스트 하였다. 이 설계 알고리즘은 일반적으로n 자유도를 가지는 머니퓰레이터에도 적용이 가능하다 This paper presents a design methodology for improving the energy efficiency by considering the inertial properties of serial manipulators. This method employed is to put the inertia matrix, which has a critical effect on the equation of motion, into the constraints of the optimization problem. Through the optimization process, we propose a design algorithm that can double-check whether the optimized parameters satisfy the required performance or not by using an auxiliary index associated with the inertia and energy. Using this design algorithm, we were able to improve the energy efficiency by minimizing the torque. We applied this method to a 3 degrees of freedom serial manipulator and simulated it.
Dual-Arm Robot Motion Planning for Collision Avoidance using B-Spline Curve
최윤성,김동형,황순웅,김현국,김남운,한창수 한국정밀공학회 2017 International Journal of Precision Engineering and Vol.18 No.6
This paper proposes an algorithm for trajectory planning of dual-arm robot. Since the original collision-free path obtained in a probabilistic way is unnecessarily jerky, it may induce a high acceleration to robot’s actuator so we regard this as a low quality path. To improve the quality of path, we propose the B-spline trajectory planning algorithm that transforms the path into the collision-free and smooth trajectory. And as a specific example of application, we applied our proposed algorithm on cell-phone assembly task using the dual-arm robot. The simulation results show that the smooth and collision-free trajectories for the task can be generated with our motion planning simulator.
김현국,신규식,황순웅,한창수 한국정밀공학회 2014 International Journal of Precision Engineering and Vol. No.
In this study, a link length determination method for the reduction of the performance deviation in the whole workspace of themanipulator was proposed. The structural length index (SLI), condition number (CN), and global conditioning index (GCI) wereselected as performance indices for link length determination. To evaluate deviation, the CN was calculated in the whole workspace,and then the data was used to calculate the coefficient of variation. The Taguchi method was used to decrease the time of optimizationfor the whole workspace, and Grey relational analysis was performed to convert the values for multiple objective functions to onevalue defined by the Grey relational grade. Furthermore, the effects of the design factors on the objective function were analyzedthrough analysis of variance. Optimization was performed twice for each objective function to compare the result of the consideringthe performance deviation and the result of the considering the performance mean. Each objective function consists of (A) the SLIand the coefficient of variation of the CN and (B) the SLI and GCI. The validity of the proposed method was verified by comparingthe results of (A) and (B) for performance deviation, mean and the rate of valid workspace.
임현섭,한창수,황순웅,신규식 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.2
This paper presents the procedure and results of the multi-objective design optimization of a seven-degrees-of-freedom (7DOF) robot manipulator for better global performance, which pertains to the Global Conditioning Index (GCI) and the Structural Length Index (SLI). The concepts of, and the calculation techniques for, GCI and SLI are introduced to allow their use as objective functions for op-timization. The optimization techniques, which are Sequential Two-point Diagonal Quadratic Ap-proximate Optimization (STDQAO), the Progressive Quadratic Response Surface Method (PQRSM), the micro genetic algorithm (μGA), and the evolutionary algorithm (EA), were explained briefly, and they are being used to optimize the global performance indices of the robot manipulator. Also, the re-sults of the optimization and comparison of the four optimization methods are summarized in tables.
IT 제품의 조립 공정 맞춤형 그리퍼 개념 설계에 관한 연구
김현국(Hyeon-Guk Kim),황순웅(Soon-Woong Hwang),안보영(Bo-Young An),허준형(Jun-Hyung Heo),최윤성(Youn-Sung Choi),신규식(Kyoo-Sik Shin),한창수(Chang-Soo Han) 한국산학기술학회 2018 한국산학기술학회논문지 Vol.19 No.2
본 논문은 제품 교체 주기가 비교적 짧고 정기적인 IT 제품의 조립 공정 맞춤형 그리퍼 개념 설계에 관한 내용을 담고 있다. 제조 현장에서 쓰이는 그리퍼는 대부분 1~2 자유도로 간단하게 구성되고 한 번에 다양한 물체가 아닌 정해진것만 다룬다. 또한 가격이 중요한 비중을 차지한다. 만약 공정에 적합한 그리퍼를 빠르고 쉽게 개발 할 수 있다면 제품 및 공정의 잦은 변경에 따른 자동화의 어려움을 일부 해소할 것으로 기대한다. 연구에 필요한 조립 공정은 제조사의 기밀인 관계로 공정 분석 진행 절차와 방법을 정의하고 기술하였다. 공리적 설계를 이용해 테블릿 PC 조립을 위한 그리퍼의 기능 요구와 설계 파라미터를 도출하였다. 이러한 파라미터를 결정함으로써 그리퍼의 개념 설계가 이루어질 수 있도록 설계 방법을 제안하였다. 타당성 검토를 위해 특정 공정을 선택하고 그리퍼 설계 진행 과정을 예제로 기술하였다. 그리퍼 설계 지침에 관한 연구가 있지만 고려 사항이 너무 일반적이고 아이디어 도출의 자유도가 높은 문제가 있다. 본 논문은 제품 및 자동화 시장이 활성화 된 IT 제품의 조립 공정을 바탕으로 그리퍼의 기능을 정의하였다. 이를 통해 물체를 잡는 것에 그치지 않고 조립 과정을 반영한 설계를 목표로 하였다. This paper describes the conceptual design of a customized gripper for the assembly process of IT products, which has a relatively short and regular product replacement cycle. The grippers that are used in the manufacturing field are mostly composed of one to two degrees of freedom and they can only handle one object, not multiple ones. Cost is also an important factor. If it were possible to develop a gripper suitable for the assembly process quickly and easily, some of the difficulties involved in its automation caused by the frequent changes of product and process could be solved. The assembly process utilized for this research is defined and described as the procedure and method of the process analysis due to the confidentiality of the manufacturer. We used an axiomatic design to derive the functional requirements and design parameters of the gripper used for the tablet PC assembly process. We proposed a design method for the conceptual design of the gripper by determining these parameters. For the feasibility study, a specific process was selected and the progress of the gripper design was described as an example. Although there have been studies on the design guidelines for grippers, their considerations are too general and their degree of freedom is too high. This paper defines the function of the gripper based on the assembly process of the IT products, which allows their production to be streamlined and automated. In this research, we attempted to produce a design that reflects the assembly process, not just one that enables objects to be held.