서지주요정보
CAD 데이타를 이용한 용접용 로보트의 최적 교시 = Optimal teaching for spot welding robot with CAD data
서명 / 저자 CAD 데이타를 이용한 용접용 로보트의 최적 교시 = Optimal teaching for spot welding robot with CAD data / 이수영.
저자명 이수영 ; Yi, Soo-Yeong
발행사항 [대전 : 한국과학기술원, 1990].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8001097

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 9061

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

As the complexity of robot application increases, there is an growing need of off-line programming system rather than on-line programming method as a robot teaching method. In off-line programming system, since a task is planned through the systematical use of object models, environment models, and task specification, the productivity of the planned task is higher than that in on-line programming method. In this thesis, a CAD-based off-line programming system specifically for spot welding task in automobile industry is presented and implemented. The proposed system consists of the world modeled, the task planner, and the graphic simulator. As the world modeled, a data extraction method from the existing general CAD system, Auto CAD, is presented for reuse of the existing model data produced by a model designer. A collision free motion planning and an optimal sequence planning are considered in the task planner, and they are treated as one subject and then, solved through the modified Traveling Salesman Problem (TSP) algorithm. To verify the planned sequence, a user friendly graphic simulator is implemented. A set of welding points of a car is used to show that the generated welding sequence is collision-free and near optimal, and the result showed that the proposed system could enhance the efficiency of a spot welding robot in automobile industry.

서지기타정보

서지기타정보
청구기호 {MEE 9061
형태사항 [iii], 67, [2] p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Soo-Yeong Yi
지도교수의 한글표기 : 정명진
지도교수의 영문표기 : Myung-Jin Chung
학위논문 학위논문(석사) - 한국과학기술원 : 전기 및 전자공학과,
서지주기 참고문헌 : p. 68-69
주제 Robot --Control systems.
CAD/CAM systems.
Industrial safety.
용접 로봇. --과학기술용어시소러스
CAD. --과학기술용어시소러스
오프라인 시스템. --과학기술용어시소러스
고장 안전 회로. --과학기술용어시소러스
최적 제어. --과학기술용어시소러스
Trajectory optimization.
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