[ Best Paper of This Month ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 30, No. 1, pp.22-30

ISSN: 2508-5107 (Online)

Print publication date 15 Feb 2021

Received 04 Nov 2020 Revised 16 Dec 2020 Accepted 04 Jan 2021

DOI: https://doi.org/10.7735/ksmte.2021.30.1.22

사용자 친화적이고 직관적인 티칭을 위한 충돌예측기능을 포함하는 탈착형 로봇 교시 장치

도현민^a^{, *} ; 김휘수^a ; 김의겸^a ; 최태용^a ; 박종우^a ; 박동일^a ; 박찬훈^a ; 경진호^a ; 김두형^a

Detachable Robot Teaching Device with Collision Prediction Function for User-Friendly and Intuitive Robot Teaching

Hyunmin Do^a^{, *} ; Hwi-Su Kim^a ; Uikyum Kim^a ; Tae-Yong Choi^a ; Jongwoo Park^a ; Dong Il Park^a ; Chanhun Park^a ; Jinho Kyung^a ; Doo Hyeong Kim^a

aDepartment of Robotics and Mechatronics, Korea Institute of Machinery and Materials

Correspondence to: ^*Tel.: +82-42-868-7507 E-mail address: hmdo@kimm.re.kr (Hyunmin Do).

초록

Increasing demand for automation and recent intact trends have accelerated the employment of robots in manufacturing and service areas. Thus, the need for an easy and efficient robot teaching is also increasing. In this paper, a novel concept of intuitive teaching device is proposed to overcome the weakness of the previous research that enables direct teaching by attaching the teaching device to the end effector of the robot and to improve the intuitiveness and operability. The teaching and collision prediction units are modularized according to their function and can be combined or disassembled. The manipulability is improved by lowering the height of the teaching device, and the influence on the payload is minimized by reducing the weight of the teaching device. A prototype is implemented, and the performance is verified through experiments by attaching the proposed teaching device to an industrial robot and performing teaching and playback tasks.

Keywords:

Robot teaching, Teaching handle, Human-robot collaboration, Collision prediction, Industrial robot

Acknowledgments

This work was supported partially by the Ministry of Trade, Industry & Energy and KEIT under program number 10063413 and partially by the R&D program of KIMM funded by the National Research Council of Science & Technology.

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Hyunmin Do

Principal researcher in the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials.His research interests are robot safety for human-robot collaboration, grasping and manipulation, robotic hand, tactile intelligence and machine learning.

E-mail: hmdo@kimm.re.kr

Hwi-Su Kim

Senior researcher in the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials.His research interests are manipulator design, counterbalance mechanism & robot and safe robot arm

E-mail: hskim81@kimm.re.kr

Uikyum Kim

Senior Researcher in the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials.His research interests are robot hand, surgical robot, six-axis force/torque sensor, force/tactile sensors for robotic applications.

E-mail: ukkim@kimm.re.kr

Tae-Yong Choi

Principal researcher in the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials.His research interest is robot control, artificial intelligence, and industrial robot system.

E-mail: taeyongc@kimm.re.kr

Jongwoo Park

Senior Researcher in the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials.His research interests are analysis of robot control, integrative system for robot, human hand motion and its synthesis for engineering, purposes.

E-mail: jekiel@kimm.re.kr

Dong Il Park

Principal Researcher in the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials.His research interests are the design and control of robot systems.

E-mail: parkstar@kimm.re.kr

Chanhun Park

Head, Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials.His research interests are Cooperative robot, Parallel Kinematic Robot, Assembly Robot and Robot for the disabled.

E-mail: chpark@kimm.re.kr

Jinho Kyung

Principal Researcher in the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials.He has served as a head of Robot team. His research interests are the design and control of robotic systems, and manipulation technology for human-robot cooperation.

E-mail: jhkyung@kimm.re.kr

Doo Hyeong Kim

Principal Researcher in the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials.

E-mail: kdh649@kimm.re.kr