• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• International Journal of Control, Automation, and Systems
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• 제1권3호
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• pp.395-400
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• 2003

A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that, by using the force/moment direction sensor method, the teaching times were reduced by 25% for Task A and 45% for Task B compared to the teaching pendant method.

• 대한인간공학회지
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• 제9권2호
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• pp.21-28
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• 1990

The robot motion control in the industrial robot is generally executed by the teach pendant. But, it requires much teaching time and workload to the operators. This study suggests the use of the robot motion control method by the computed keyboard in the industrial robot instead of the teach pendant. TES/CCS(Teaching Expert System/Cartesian Coordinate System) and TES/WCS(Teaching Expert System/World Coordinate System) that have been proposed to improve the robot motion control are applied for this concept. This study is intended to improve the robot motion control in TES/CCS. Parameter limitation problems in getting the motion data on position and posture of the robot in macro motion control are solved by proposed geometric algorithm. This result demonstrates reduction of the average teaching task time to the teaching position.

• 대한산업공학회지
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• 제16권2호
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• pp.99-107
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• 1990

Many accidents related to robot operation occur during the robot teaching process. This paper deals with recommendations for the teach pendant design parameters to enhance safety and performances in human-robot interactions. In order to investigate the optimum location and the size of the emergency stop button on the teach pendant, an experiment was conducted with a simulated teach pendant which can accomodate four different locations and three sizes of the button. Under a simulated emergency condition, the reach time to the emergency stop button was measured at random combination of the location and the size of button. The reach time was significantly affected by the location and the size of the emergency stop button. The fastest average reach time was attained with 1.5 inch-diameter button on the upper center of the teach pendant.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2005년도 춘계 학술발표대회 논문집
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• pp.80-81
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• 2005

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.543-548
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• 2000

In this study, an interactive programming method for robot in electronic part assembly task is proposed. Many of industrial robots are still taught and programmed by a teach pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and play back repetitively to perform robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and downloaded to the robot controller. This teaching process is implemented through an off-line programming software. The OLP is developed for an robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on an assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line teaching in the system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.65-68
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• 1999

In this study, an off-line automatic teaching method using vision information for robotic assembly task is proposed. Many of industrial robots are still taught and programmed by a teaching pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and played back repetitively to perform the robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and transferred to the robot controller. This teaching process is implemented through an off-line programming(OLP) software. The OLP is developed for the robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on the assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line automatic teaching.

• 전자공학회논문지SC
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• 제47권5호
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• pp.1-8
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• 2010

시장과 공장 환경 변화에 따라 생산관리의 용이성, 조작의 편리성, 높은 산업 안정성등의 요구가 본 논문에서는 네트워크기반의 시스템을 도입하여 단점을 보완한 새로운 고속, 초정밀 취출 로봇 제어기를 개발하였다. 개발된 제어기는 크게 티칭 팬던트와 중앙 서버 PC로 구분된다. 중앙 서버 PC는 관리자에게 전체 공정에 관련된 정보를 제공하게 된다. 티칭 팬던트는 중앙 서버 PC와 사출물 취출 로봇에 다리 역할로 사출로봇을 이용하는 사용자에게 제어 기능 및 사용자 인식, 금형파일 관리등 다양한 기능을 제공하게 된다. 사출물 취출을 위한 제어기 개발은 소프트웨어와 하드웨어 부분으로 나누어진다. 소프트웨어 개발은 3단계로 구분된다. 응용 프로그램과 유저 인터페이스 그리고 디바이스 드라이버로 구분되며, 간단한 디바이스 드라이버에는 따로 구분하지 않고 응용 프로그램에 포함되어 사용하도록 하였다. 하드웨어는 터치패널과 무선 네트워크를 도입하여 인터넷 접속 및 효율적인 공정 제어를 구축할 수 있도록 하였다. 기존의 시스템의 취출 싸이클이 5초였으나, 개선된 시스템을 도입하였을 경우 4초이내였으며, 다양한 무선 네트워크 기능으로 인한 공정 관리 및 생산 관리등 공정의 효율성을 높일 수 있었다.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1996년도 춘계공동학술대회논문집; 공군사관학교, 청주; 26-27 Apr. 1996
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• pp.244-248
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• 1996

Nowadays, most shop floors using industrial robots have many problems such as constructing robot workcell, generating robot arm moving trajectory, etc.. In the case of programming robot-arms for a specific task, shop operator commonly use the teach pendant to record the target position and determine the moving trajectory. However, such a teaching process may result in an inefficient trajectory in the sense of moving distance and joint angle fluctuation. Moreover, shop operators who have little knowledge about robot programming process need a lot of learning time and cost. The purpose of this paper is to propose a user friendly robot programming method to program robot-arms easily and efficiently for shop operator so that the programming time is reduced and a short and stable trajectory is obtained.