오프라인 프로그램을 이용한 로봇 비전시스템 = A Flexible Robot-Vision System by using Off-line Programming

다국어 초록 (Multilingual Abstract)

In this paper a manufacturing robot system is developed for the purpose of increasing the flexibility against changing product model. This system performs the soldering task. The module to solder the circuit is composed of robots(AC-L5) and automatic solder machine (SOLDER KING Ⅲ), is programmed 0LP(off-line programming) technique. The general kinematic and dynamic features of robot are analyzed to apply the error calibration of the AC-1.5 and the real assembly line. Robot teaching by using vision image at eye-on-hand reduces the setup time to cope with changing product model. The developed cells from the above results were installed and operated in the real camera back-cover assembly line where the work time and the soldering quality were improved compared to an ordinary cell using SCARA robot and the rate of the bad product is reduced in the process. Also, the task teaching in off-line program is 50 times faster than an ordinary on-line teaching method after the completion of one setting, contribution to the increase and efficiency of production and tasks.

목차 (Table of Contents)

• 목차
• Abstract = 247
• Ⅰ. 서론 = 247
• Ⅱ. 로봇과 비젼 시스템 = 248
• Ⅲ. OLP을 이용한 납땜 공정 = 248
• 1. 오프라인 프로그램 = 248
• 2. 비젼 영상을 이용한 로봇 교시 = 250
• 3. 로봇 궤적의 모의 실험 = 252
• 4. 공정의 온라인 구동 및 성능 평가 = 252
• Ⅳ. 납땜 공정의 제어 = 253
• Ⅴ. 결론 = 253
• 참고문헌 = 254