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公开(公告)号：KR101684894B1
公开(公告)日：2016-12-12
申请号：KR1020160040107
申请日：2016-04-01
Applicant: 한국기계연구원
Abstract: 본발명은조립시에작업물의위치오차및 가공공차에적절하게대처할수 있는강성을제공할수 있도록함으로써조립교시가용이하며, 조립작업시 조립상태를파악하여조립위치의경로를수정할수 있어조립속도및 조립품질을향상시킬수 있는변위측정이가능한가변수동강성그리퍼를이용한조립제어방법에관한것이다.
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公开(公告)号：KR101469204B1
公开(公告)日：2014-12-09
申请号：KR1020140013650
申请日：2014-02-06
Applicant: 한국기계연구원
Abstract: 로봇을 작업대의 작업위치에 맞게 고정시켜 주어 이동형 로봇 시스템의 작업 정밀도를 향상시켜 주는 로봇용 작업대 고정장치에 관한 것이다. 로봇용 작업대 고정장치는 로봇의 양측에 각각 장착되는 탄성 변형부재들과, 작업대에 장착되며, 로봇을 작업위치로 이동시키는 과정에서 탄성 변형부재들을 슬라이드 안내함에 따라 로봇을 작업위치로 진입시켜 고정하는 가이드 부재를 포함한다.
Abstract translation: 本发明涉及一种机器人的工作台固定装置，其将机器人固定在工作台上的操作位置，从而可以提高移动机器人系统的操作精度。 机器人的工作台固定装置包括安装在机器人的两侧的弹性变形构件; 以及引导构件，其安装在工作台上并通过在机器人移动到操作位置期间将弹性变形构件滑动引导而将机器人移动并固定到操作位置。
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公开(公告)号：KR101398215B1
公开(公告)日：2014-05-26
申请号：KR1020130023631
申请日：2013-03-05
Applicant: 한국기계연구원
Abstract: Disclosed are a dual arm robot control device having an error recovery function and a recovery method thereof. According to an embodiment of the present invention, the dual arm robot error recovery method comprises: a step of classifying and storing error models caused during the operation of a dual arm robot in a database; a step of detecting the errors of a work status using a sensor mounted on the dual arm robot or a sensor for ambient environments; a step of searching the error models corresponding to the detected errors from the database when the errors are detected; and a step of determining an error recovery method corresponding to the searched error models and recover the errors according to the determined error recovery method.
Abstract translation: 公开了具有错误恢复功能的双臂机器人控制装置及其恢复方法。 根据本发明的实施例，双臂机器人错误恢复方法包括：在数据库中对双臂机器人的操作期间引起的误差模型进行分类和存储的步骤; 使用安装在双臂机器人上的传感器或周围环境的传感器来检测工作状态的错误的步骤; 当检测到错误时，从数据库中搜索与检测到的错误对应的错误模型的步骤; 以及确定与所搜索的错误模型相对应的错误恢复方法并根据确定的错误恢复方法恢复错误的步骤。
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公开(公告)号：KR101197125B1
公开(公告)日：2012-11-07
申请号：KR1020120028017
申请日：2012-03-20
Applicant: 한국기계연구원
Abstract: PURPOSE: An object gripping system and method are provided to improve object gripping efficiency by allowing a robot hand to grip objects in order depending on the exposure rate of the objects. CONSTITUTION: An object gripping system(1) comprises a carrier(20), a robot hand(10), a camera(40), and a controller(50). Objects(30) are received in the carrier. The robot hand grips the objects. The camera is vertically installed to be separated from the carrier. The controller comprises a database which rotates objects and photographs the rotated objects. The controller calculates the exposure rate of each object by comparing the areas of the photographed objects each other. The robot hand grips the objects depending on the exposure rate of the objects.
Abstract translation: 目的：提供一种物体夹持系统和方法，以通过允许机器人手按照物体的曝光率依次抓住物体来提高物体的抓握效率。 构成：物体夹持系统（1）包括载体（20），机器人手（10），相机（40）和控制器（50）。 对象（30）在载体中被接收。 机器人手握住物体。 相机垂直安装以与托架分离。 控制器包括一个数据库，它旋转对象并拍摄旋转的对象。 控制器通过比较拍摄对象的面积来计算每个对象的曝光率。 机器人手抓住物体，取决于物体的曝光率。
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Patent Agency Ranking
公开(公告)号：KR1020120073828A
公开(公告)日：2012-07-05
申请号：KR1020100135711
申请日：2010-12-27
Applicant: 한국기계연구원
Abstract: PURPOSE: A parallel robot equipped with a spring-damping device is provided to maximize the accuracy of the robot by reducing the vibration and movement generated a pair of links through a spring-damping device. CONSTITUTION: A parallel robot equipped with a spring-damping device comprises a base(110), a platform(120), and driving arms(130). The driving arm is composed of a first arm(131) and a second arm(132) connected with each other in series. The end portion of the first arm is connected to the base and the end portion of the second arm is connected to the platform. The second arm is composed of a pair of links(132a). The second arm is formed into parallelogram shape. A spring-damper set(133) is composed of a spring(133a) and a damper(133b). The spring-damper set is installed in the front and back sides of the pair of links.
Abstract translation: 目的：提供一种配有弹簧阻尼装置的并联机器，通过减少通过弹簧阻尼装置产生一对连杆的振动和运动来最大化机器人的精度。 构成：装备有弹簧阻尼装置的平行机器包括基座（110），平台（120）和驱动臂（130）。 驱动臂由串联连接的第一臂（131）和第二臂（132）构成。 第一臂的端部连接到基座，第二臂的端部连接到平台。 第二臂由一对连杆（132a）组成。 第二臂形成平行四边形。 弹簧阻尼器组件133由弹簧133a和阻尼器133b构成。 弹簧阻尼器组安装在该对连杆的前后两侧。
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公开(公告)号：KR1020120072150A
公开(公告)日：2012-07-03
申请号：KR1020100133966
申请日：2010-12-23
Applicant: 한국기계연구원
Abstract: PURPOSE: A method for controlling a high-speed parallel robot based on synchronization of multiple axes is provided to effectively control a robot using synchronization errors. CONSTITUTION: A method for controlling a high-speed parallel robot(190) based on synchronization of multiple axes is as follows. The desired trajectory information of each joint is inputted. The present position information of each joint is fed back to a motion control unit(150). A CPU(central processing unit) calculates a tracking error of each joint by comparing the desired trajectory information with the present position information. A synchronization error is calculated using the tracking error of the i-th joint and the tracking errors of previous and next joints of the i-th joint. A PID(Proportional-Integral-Derivative) controller calculates an entire error using the tracking errors and the synchronization error. An entire control input information generating unit generates entire control input using the sum of feedback control information and feed-forward control information. The motion control unit powers each joint.
Abstract translation: 目的：提供一种基于多轴同步来控制高速并行机器人的方法，以有效地控制使用同步误差的机器人。 构成：基于多个轴的同步来控制高速并行机器人（190）的方法如下。 输入每个关节的期望的轨迹信息。 每个关节的当前位置信息被反馈到运动控制单元（150）。 CPU（中央处理单元）通过将期望的轨迹信息与当前位置信息进行比较来计算每个关节的跟踪误差。 使用第i个关节的跟踪误差和第i个关节的前后关节的跟踪误差来计算同步误差。 PID（比例积分微分）控制器使用跟踪误差和同步误差计算整个误差。 整个控制输入信息生成单元使用反馈控制信息和前馈控制信息的和来生成整个控制输入。 运动控制单元为每个接头供电。
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公开(公告)号：KR1020100096908A
公开(公告)日：2010-09-02
申请号：KR1020090015995
申请日：2009-02-25
Applicant: 한국기계연구원
Abstract: PURPOSE: A direct teaching robot capable of detecting impact, which provides convenience by directly controlling a robot, and a method for detecting impact are provided to secure the safety of an operator by preventing damage to a robot by the malfunction of a robot. CONSTITUTION: A direct teaching robot capable of detecting impact is directly operated by an operator. The operator catches the leading end of a robot and operates the robot using a F/T(Force/Torque) sensor. The operator holds a middle shaft in which the F/T sensor is installed or the leading end of the robot, and controls the robot according to the free degree of the robot.
Abstract translation: 目的：提供一种能够通过直接控制机器人来检测碰撞的直接教导机器人以及用于检测碰撞的方法，以通过机器人的故障来防止机器人的损坏来确保操作者的安全。 规定：能够检测影响的直接教学机器人由操作人员直接操作。 操作员抓住机器人的前端，并使用F / T（力/扭矩）传感器操作机器人。 操作员握住安装有F / T传感器的中间轴或机器人的前端，并根据机器人的自由程度控制机器人。
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公开(公告)号：KR100964961B1
公开(公告)日：2010-06-21
申请号：KR1020090015993
申请日：2009-02-25
Applicant: 한국기계연구원
Abstract: PURPOSE: A direct instructing method of a robot is provided to prevent the instantaneous detaching of a robot from a workpiece. CONSTITUTION: A direct instructing method of a robot is as follows. A power/torque sensor for teaching and a power/torque sensor for a work tool independently sense sensing signals without interference. The movement of robot is decided based on the sensed teaching force signal and the sensed external force signal. The power/torque sensor for teaching and the power/torque sensor for a work tool are installed in the end of the robot. The power/torque sensor for teaching measures teaching power of a user. The power/torque sensor for a work tool measures the external force which is created when the external environment and robot are touched.
Abstract translation: 目的：提供机器人的直接指导方法，以防止机器人从工件瞬间脱离。 构成：机器人的直接指导方法如下。 用于教学的功率/扭矩传感器和用于工作工具的功率/扭矩传感器独立地感测感测信号而不受干扰。 基于感测到的教导力信号和感测的外力信号来决定机器人的运动。 用于教学的功率/扭矩传感器和用于工作工具的功率/扭矩传感器安装在机器人的末端。 用于教学的功率/扭矩传感器测量用户的教学能力。 用于工作工具的功率/扭矩传感器可测量外部环境和机器人触摸时产生的外力。
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公开(公告)号：KR100907906B1
公开(公告)日：2009-07-16
申请号：KR1020070123967
申请日：2007-11-30
Applicant: 한국기계연구원
Abstract: 본 발명은 로봇의 직접교시 방법에 관한 것으로, 로봇의 각각의 모듈, 또는 링크에 적어도 두개 이상의 터치센서를 구비한 터치센서 그룹을 장착하여, 선택되는 어느 하나의 터치센서를 터치하면 모듈의 일측 관절의 방향 중 어느 한 방향으로 동작하게 하고, 또 다른 터치센서를 터치하면 상기 방향과 반대의 방향으로 동작하게 하여 교시하는 것을 특징으로 하는 터치센서를 이용한 로봇의 직접교시방법에 관한 것이다.
이상과 같은 본 발명은 로봇의 직접교시를 저렴하게 실시할 수 있고, 교시의 정확도가 향상되며, 변화(예컨대, 적재로봇의 경우 적재위치가 바뀌게 된 경우)되는 현장 상황에 신속하게 대처할 수 있는 효과가 있다.
로봇, Touch, 센서, 교시, 직접교시Abstract translation: 提供带触摸传感器的直接教学方法，通过以低速，中速或高速教授链接来提高教学的准确性。 具有触摸传感器的直接示教方法包括以下步骤：将配备有至少两个触摸传感器（1,2）的触摸传感器组（A）安装到机器人的每个模块或链接; 在触摸所选择的任何一个触摸传感器的情况下，激活模块的任一接点到任何一个方向的步骤; 当触摸另一个触摸传感器时激活模块的任一接点到相反方向的步骤; 以及通过在每个链路中进一步配备初始化触摸传感器，当触摸从初始化触摸传感器选择的触摸传感器时忽略先前的教学任务，而将相应的链接返回到教学任务之前的状态。
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