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Application of Calibration for Bin-Picking in Cell Production System with Multi Dual-arm Robots |
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JuHan Park, GukHwa Kim, HyunMin Do, JinHo Kyung(Korea Institute of Machinery & Materials (KIMM), Korea) |
| In this paper, we have developed a dual-arm robot for application to the cellular phone production. The two dual-arm robots in the cell production process perform a cellular phone packaging operation. Bin-picking technology is necessary because the accessories are being supplied randomly. We perform calibration for calculating a transformation matrix between the robot coordinate system and vision coordinate system in order to bin-picking. And then we will verify the transformation matrix through experiment. |
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Easy Estimation Method of Dynamic Parameters of Robots using Newton-Euler Formulation Regeressor with Translated Coordinate |
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Dawoon Jung, Joono cheong(Korea University, Korea) |
| Proper identification of dynamic parameters is essential part of dynamic robot control. However, the procedure calculating the regressor, linear form of the equation of motion about dynamic parameters, is very difficult and complex. This paper proposes a new formulation approach method to estimate the dynamic parameters of multi degree of robots. Unlike the difficulty to derive the regressor, the linear form of which previous methods have, this new method can easily obtain the regressor with just matrix calculations. |
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Dynamic Analysis for Human-Robot Collision and Robot Safety Index |
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Junewon Seo(Kyung Hee University, Korea), Heonseop Shin(Midas IT, Korea), Sungsoo Rhim(Kyung Hee University, Korea) |
| As for the development of robot system, Robots are getting closer to human. Therefore, workers have been working with collaborative robot in industry area. However, such like the tendency makes more unavoidable accident for human. In this paper, manipulator shape is considered as a safety component and analyzed with mathematical approaches. During the collision between impactor and head, force and pressure are derived using the contact area. And the effectiveness of shape on impact verified with simulation result. |
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Posture Invariant Object Recognition Using Geometric and Statistical Features |
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Ji-Hyeong Pyo(Korea University of Science and Technology(UST), Korea), Sang-Seung Kang, Jae-Yeon Lee, Kye-Kyung Kim(Electronics and Telecommunications Research Institute, Korea) |
| This paper proposes vision-based recognition method invariant object posture that segments candidate object region using brightness distribution of input image and convex and concave points of object. The main advantage of this method provides reliable object segmentation that reduces segmentation errors caused by illumination changes and complex background. Target object detection to be recognized in extracted object region has processed by determining a series of similar sized blobs.Target object has recognized using multi-layer perceptron using backpropagation algorithm. |
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The development of joint torque sensor for robot manipulator based on force control |
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BongSeok Kim, DongSub Kim, TaeKeun Kim, ChangWoo Park(Korea Electronic Technology Institue, Korea) |
| This paper suggests a joint torque sensor which can be easily attached to each joint of a robot manipulator joint for force control. We designed a new joint torque sensor that measures a torque exerting at any location. The design of sensor body is optimized through the structural body analysis. We measured a crosstalk error applied to the robot manipulator joint. We proved that the proposed joint torque sensor gives acceptable performance when we control the robot-manipulator. |
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