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公开(公告)号：KR101799058B1
公开(公告)日：2017-11-17
申请号：KR1020160066946
申请日：2016-05-31
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은, 능동형상지운동보조장치의동작을제어하기위한장치에있어서, 상기상지운동보조장치에사용자가상지하박부를안착시킨상태에서동작시에상기상지운동보조장치에부착된복수의센서로부터측정된힘에대한센싱값을입력받는입력부와, 상기복수의센서중 기매칭된복수의센서조합에포함되는센서간의센싱값의비율을연산하는연산부와, 각각의센서조합에대하여연산된상기센싱값의비율을이용하여사용자의동작의도정보를추출하는동작의도추출부, 및상기추출된동작의도정보에기초하여상기사용자가의도하는동작을보조하기위한외력에대한제어신호를생성하여상기상지운동보조장치에연결된다관절로봇에전달하는신호생성부를포함하는제어장치를제공한다. 본발명에따르면, 상지운동보조장치에구비된다수의센서를조합하여사용자동작의도를파악하고파악한동작의도에대한제어신호를생성하여다관절로봇에전달함에따라, 다관절로봇이사용자가의도한동작을보조할수 있도록함은물론, 사용자의안정적인상지운동이가능하게하는효과가있다.
Abstract translation: 本发明中，在装置中的有源上肢运动，用于控制辅助设备的操作，在操作中，上肢运动测量的状态下使座椅用户虚拟地薄从多个连接到上肢传感器的次级装置，该运动辅助设备 计算单元，用于计算多个传感器中的多个匹配的传感器中包括的传感器之间的传感值的比率; 基于所提取的操作意图信息，基于所提取的操作意图信息，提供用于辅助用户的预期操作的外力的控制信号 信号发生单元连接到上肢运动辅助装置并将信号发送到关节机器人。 由于根据本发明，上肢运动被提供给辅助设备组合的数量的传感器，以确定用户的操作的程度，并产生被发送到多关节型机器人针对所识别的操作的示图的控制信号，并且所述多关节型机器人的用户的 从而有助于使用者上肢的稳定运动。
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公开(公告)号：KR1020170124118A
公开(公告)日：2017-11-10
申请号：KR1020160052611
申请日：2016-04-29
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은사용자의행동정보를통해제어되는하수관로보수로봇에관한것이다. 본발명에따르면, 하수관로보수로봇은가이드부재를조종하는사용자의생체신호를측정하는가이드모듈, 하수관로내벽을치핑하거나상기치핑후 남은잔재를제거하는보수모듈및 제어신호에따라상기보수모듈의동작을제어하는머니퓰레이터를포함하는작업플랫폼, 하수관로를따라이동하며, 상기머니퓰레이터가지평면과수평을유지하도록제어하는이동플랫폼, 그리고상기측정된생체신호를이용하여상기작업플랫폼의자율동작메뉴얼을생성하고, 상기자율동작메뉴얼에따라상기작업플랫폼을제어하는상기제어신호를생성하는제어모듈을포함한다. 이와같이본 발명에따르면, 숙련된사용자의작업예시에따라작업상황에적합한자율동작메뉴얼을획득할수 있으므로, 로봇을원격으로조종하여하수관로를보수하는것보다정확도높은작업을수행할수 있다.
Abstract translation: 本发明涉及一种通过用户行为信息控制的污水管修理机器人。 根据本发明，污水管修理机器人包括：引导模块，用于测量用户的生物信号以控制引导构件;维护模块，用于对污水管的内壁进行切削或在切削之后去除残留物， 移动平台沿着污水管移动以使用测量的生物信号控制操纵器相对于操纵器的平面和工作平台的自主操作手册保持水平位置， 以及用于根据自主操作手册产生用于控制工作平台的控制信号的控制模块。 以这种方式，根据本发明，根据有经验的用户的操作，因为它可以得到用于作业状态的自操作手册，机器人可以以高精度进行与远程维护比到hasugwanro操作来控制。
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公开(公告)号：KR101696362B1
公开(公告)日：2017-01-24
申请号：KR1020150078481
申请日：2015-06-03
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은파이프를설치하기위한로봇원격제어장치및 그방법에관한것으로, 본발명의일 실시예에따른복수의필드로봇을원격제어하여파이프를설치하기위한로봇원격제어장치는, 사용자원격조작장치로부터원격조종의대상이되는상기필드로봇을선택받고, 상기필드로봇의동작을제어하기위한파이프파지조작명령신호및 파이프설치조작명령신호를입력받는인터페이스부, 상기파이프파지조작명령신호에대응하여상기필드로봇이파이프를파지하도록하는작업명령신호를생성하는작업명령생성부, 상기파이프설치조작명령신호에대응하여상기파이프를파지한상기복수의필드로봇을작업위치로이동시키고, 상기복수의필드로봇에게상기파이프를서로이격되어있는 2개의플렌지사이에설치하도록하는자율명령신호를생성하는자율명령생성부, 그리고생성된상기파이프파지조작명령신호, 상기파이프설치조작명령신호및 상기자율명령신호를상기필드로봇으로전송하는통신부를포함한다. 이와같이본 발명에의하면, 파이프를설치하기위한로봇원격제어장치및 그방법을이용함으로써, 기존의 1:1 원격제어로봇시스템의기술적한계로적용이불가능했던파이프설치작업을원격으로조종하여수행할수 있다.
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公开(公告)号：KR101307521B1
公开(公告)日：2013-09-12
申请号：KR1020120038698
申请日：2012-04-13
Applicant: 재단법인대구경북과학기술원
Abstract: PURPOSE: A method for directly teaching a robot, a method for correcting teaching data, and a device for controlling the robot are provided to shorten playing times of the robot as the data in a section in which the robot stops among the teaching data stored after a direct teaching work is automatically or selectively corrected. CONSTITUTION: A method for directly teaching a robot comprises the following steps: preparing inserting components including first and second pegs and non-inserting components having a hole in which each peg can be inserted; grasping the central position of the first peg (S101); performing a work firstly connecting a first hole in which the first peg among holes formed in the non-inserting components is inserted into the first peg by the robot (S102); firstly inserting the first peg into the first hole (S103); connecting a second hole of the non-inserting components to a second peg of the inserting components by the robot (S104); and secondly inserting the second peg into the second hole (S105). The inserting component has two or more pegs. The size of the first peg is greater than the second peg and the first peg grasps the center position. [Reference numerals] (AA) Operator gives instructions; (BB) Robot provides supports; (S101) Grasping the central position of the first peg; (S102) Performing a first connection; (S103,S105) Performing a first insertion; (S104) Performing a second connection
Abstract translation: 目的：提供一种用于直接教导机器人的方法，用于校正教学数据的方法以及用于控制机器人的装置，以缩短作为机器人停止的部分中的数据的机器人的播放时间 自动或选择性地纠正直接教学工作。 构成：一种用于直接教导机器人的方法包括以下步骤：准备插入包括第一和第二钉的部件和具有孔的非插入部件，每个钉可插入其中; 抓住第一钉的中心位置（S101）; 执行首先连接第一孔的工作，其中通过机器人将形成在非插入部件中的孔中的第一栓钉插入到第一栓钉中的第一孔（S102）; 首先将第一钉插入到第一孔中（S103）; 通过所述机器人将所述非插入部件的第二孔连接到所述插入部件的第二栓钉（S104）; 其次将第二钉插入第二孔（S105）。 插入部件具有两个或更多个钉。 第一栓钉的尺寸大于第二栓钉，并且第一栓钉抓住中心位置。 （附图标记）（AA）操作员给出说明; （BB）机器人提供支持; （S101）抓住第一钉的中心位置; （S102）执行第一连接; （S103，S105）执行第一插入; （S104）执行第二连接
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公开(公告)号：KR101694465B1
公开(公告)日：2017-01-10
申请号：KR1020150063786
申请日：2015-05-07
Applicant: 재단법인대구경북과학기술원
IPC: A61H1/02
Abstract: 본발명은테이블상에고정되도록중량을갖는받침부와, 상기받침부의상측에제1축및 제2축으로연결되고, 상지의높이를유지하도록하며, 제어부에서사용자의상지에서생성되는미세한근력또는생체신호를감지하면, 이를토대한제어부의로봇동작명령에의해제1축의구동으로상지를어깨관절을축으로좌 또는우 방향으로회전되게안내하고, 상기제어부의로봇동작명령에의해제2축의구동으로상지를어깨관절을축으로상 또는하 방향기울기가조절되게안내하는상지지지부및 상기상지지지부의상측에서제3축, 제4축및 제5축으로연결되고, 사용자의상지가안착되며, 제어부에서사용자의상지에서생성되는미세한근력또는생체신호를감지하면, 이를토대한제어부의로봇동작명령에의해제3축의구동으로상지를전, 후또는좌, 우방향으로이동하게안내하고, 직교좌표계공간상에서 X, Y, 및 Z축방향으로사용자상지의이동에대한안내및 근력을지원시 제어부의로봇동작명령에의해제4축및 제5축의구동으로상지의좌,우및 상,하방향의회전을안내하는상지안착부를포함하여, 상지의근력이정상인보다떨어지는사용자의상지근력또는생체신호를로드셀, 힘/토오크센서, 가속도센서, 근전도센서등으로감지하고, 사용자의상지동작에관한의도를파악해부족한상지근력을보조함으로써, 노약자나재활환자와같은사용자의안정된식사뿐만아니라, 지정테이블에서상지로할 수있는모든일을행할수 있어생활편의성을증대시킬수 있음은물론, 상지근력재활운동에도도움을주는능동형식사재활보조장치를제공한다.
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Patent Agency Ranking
公开(公告)号：KR101383450B1
公开(公告)日：2014-04-08
申请号：KR1020130043217
申请日：2013-04-18
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/0274 , A61H1/0285 , A63B23/12 , B25J11/00
Abstract: The present invention relates to an upper extremity rehabilitation robot control method for meal assistance capable of assisting a meal for the elderly and patients for rehabilitation whose physical strength of an upper extremity is less than a normal person. More specifically, the upper extremity rehabilitation robot control method for meal assistance comprises a step of detecting the movement of an upper extremity of a user by a detection member after a dish is disposed at a predetermined position, and the upper extremity of the user is mounted at an arm end of an articulated robot; a step of calculating the direction where the upper extremity wants to go and the power by the detected movement in the detection member; a step of generating and outputting control signals to be output to the articulated robot based on a calculated value; and a step of assisting the upper extremity of the user with the power in the direction where the upper extremity wants to go and moving the upper extremity by driving the arm of the articulated robot based on the output control signals. [Reference numerals] (AA) Start; (BB) End; (S100) Detect the minute movement of an upper extremity by a detection member; (S200) Calculate the direction where the upper extremity wants to go and the power by the detected minute movement; (S310) Compare a calculated value relative to the power and a reference value of the power previously inputted; (S320) Output control signals by converting any one of magnetic polarity among the detection member and an articulated robot if the calculated value is greater than or equal to the reference value; (S400) Generate each control signal of X-axis, Y-axis, and Z-axis to be outputted to the articulated robot based on the calculated value and output the same; (S500) Selectively drive arms of the articulated robot on the line of the X-axis, Y-axis, and Z-axis based on the each control signal of the outputted X-axis, Y-axis, and Z-axis
Abstract translation: 本发明涉及一种用于辅助老年人膳食的膳食辅助的上肢康复机器人控制方法和上肢体力小于正常人的康复患者。 更具体地，用于膳食辅助的上肢康复机器人控制方法包括以下步骤：在将餐具设置在预定位置之后检测用户的上肢的移动，并且使用者的上肢被安装 在关节式机器人的臂端; 计算上肢想要去的方向的动作和通过检测动作的动力的步骤; 基于计算值生成并输出要输出到关节式机器人的控制信号的步骤; 以及通过基于输出控制信号驱动关节式机器人的臂，辅助用户上肢在上肢想要走的方向上移动上肢的步骤。 （附图标记）（AA）开始; （BB）结束; （S100）通过检测部件检测上肢的微小移动; （S200）通过检测到的微小运动计算上肢想要走的方向和动力; （S310）比较相对于功率的计算值和预先输入的功率的参考值; （S320）如果计算值大于或等于参考值，则通过转换检测构件和关节式机器人中的任何一个磁极来输出控制信号; （S400）根据计算值生成X轴，Y轴和Z轴的各个控制信号输出到关节式机器人，并输出; （S500）根据输出的X轴，Y轴和Z轴的各个控制信号，选择性地将关节式机器人的臂驱动在X轴，Y轴和Z轴的线上
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公开(公告)号：KR101321984B1
公开(公告)日：2013-10-28
申请号：KR1020120048449
申请日：2012-05-08
Applicant: 재단법인대구경북과학기술원
Abstract: PURPOSE: A route compensation method of robots for controlling valves based on the cooperation and a system thereof are provided to prevent the damage of components forming a robot and a valve from an excessive operation work when a route of the robot cannot be followed by the unexpected intervention of obstacles when the robot follows a generated route. CONSTITUTION: A route compensation method of robots comprises the following steps: storing each gripper coordinate system of a slave robot, generating a movement route of a robot arm, and moving to the initial position of the generated route (S230); observing whether or not the contact force is generated due to a route generating error and it is generated over a reference value when the robot arm moved to the initial position follows the route (S260); stopping the following of the robot arm and displaying alarms and an error message when the contact force is generated over the reference value (S270); observing whether or not a valve gauge reach a target value in case a work locking the valve operation is completed as the contact force is generated over the reference value (S280); returning the robot arm to the initial position and finishing the work when the valve gauge reaches the target value (S300). [Reference numerals] (AA) Remote control of an operator; (BB) Start working; (CC) Robot's autonomous motion; (DD,GG,II) No; (EE,FF,HH) Yes; (JJ) Finish working; (S110) Move each slave robot to a specific position; (S120) Grip a jig handle with a gripper of each slave robot; (S130) Turn the switch of the autonomous motion of a robot on; (S140) Input information about distance measured by a jig; (S210) Store the gripper of each robot on a coordinate; (S220) Generate a route for the movement of arm each slave robot's arm; (S230) Move the robot's arm to an initial position of the generated route; (S240) Generate contact force by a route generating error; (S242) Display a notice light and an error message; (S244,S262) Execute a route compensating work; (S250) Follow the route of a robot along the generated route; (S260) Contact force above a reference value occurs; (S270) Stop following the route of the robot's arm; (S280) Valve gauge reaches a target value; (S290) Back to the initial position; (S300) Display the state of finishing the work
Abstract translation: 目的：提供一种基于协作的控制阀的机器人的路径补偿方法及其系统，用于当机器人的路线不能被意外地跟随时，防止在形成机器人的部件和阀的过度的操作作业中的损坏 当机器人遵循生成的路线时干预障碍物。 构成：机器人的路径补偿方法包括以下步骤：存储从机器人的每个夹具坐标系，生成机器人手臂的移动路线，并移动到所生成的路线的初始位置（S230）; 观察由于路径产生错误而产生接触力，并且当机器人臂移动到初始位置时，在参考值之后产生超过参考值（S260）; 停止以下机器人手臂并且当在参考值上产生接触力时显示报警和错误消息（S270）; （S280）产生接触力时，观察阀门是否达到目标值（S280）; 当机械手达到目标值（S300）时，将机器人臂返回初始位置并完成工作。 （附图标记）（AA）操作者的遥控; （BB）开始工作; （CC）机器人自主运动; （DD，GG，II）否; （EE，FF，HH）是; （JJ）完成工作; （S110）将每个从机器人移动到特定位置; （S120）用每个从机器人的夹具握住夹具手柄; （S130）打开机器人自动运动的开关; （S140）通过夹具测量的距离的输入信息; （S210）将各机器人的夹具存放在坐标上; （S220）为每个从机器人的手臂移动臂产生一条路线; （S230）将机器人手臂移动到生成路线的初始位置; （S240）通过路由生成错误产生接触力; （S242）显示通知灯和错误信息; （S244，S262）执行路由补偿工作; （S250）沿着生成的路线跟随机器人的路线; （S260）出现高于参考值的接触力; （S270）停止跟随机器人手臂的路线; （S280）阀杆达到目标值; （S290）回到初始位置; （S300）显示工作完成的状态
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公开(公告)号：KR101974935B1
公开(公告)日：2019-05-07
申请号：KR1020160050761
申请日：2016-04-26
Applicant: 재단법인대구경북과학기술원
IPC: E03F3/06
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