한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제25권6호
  • /
  • Pages.492-497
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  • 2016
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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산업용 로봇의 작업공간 제한이 없는 교시 방법

Teaching Method Without Work Space Limit for Industrial Robot

  • Choi, Taeyong (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials) ;
  • Do, Hyunmin (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials) ;
  • Park, Chanhun (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials) ;
  • Park, Dongil (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials) ;
  • Kim, Doohyeong (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials) ;
  • Kyung, Jinho (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials)
  • 투고 : 2016.10.12
  • 심사 : 2016.11.16
  • 발행 : 2016.12.15
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초록

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.

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참고문헌

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