Journal of Welding and Joining

The Korean Welding and Joining Society (대한용접접합학회)
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Implementation of Automatic Teaching System for Subassembly Process in Shipbuilding

선박 소조립 공정용 로봇 자동교시 시스템의 구현

  • 김정호 (한국과학기술원, 자동화 및 설계공학과) ;
  • 유중돈 (한국과학기술원, 자동화 및 설계공학과) ;
  • 김진오 (삼성전자 생산기술연구센타 자동화연구소) ;
  • 신정식 (삼성전자 생산기술연구센타 자동화연구소) ;
  • 김성권 (삼성전자 생산기술연구센타 자동화연구소)
  • Published : 1996.04.01
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Abstract

Robot systems are widely utilized in the shipbuilding industry to enhance the productivity by automating the welding process. In order to increase productivity, it is necessary to reduce the time used for robot teaching. In this work, the automatic teaching system is developed for the subassembly process in the shipbuilding industry. A alser/vision sensor is designed to detect the weld seam and the image of the fillet joint is processed using the arm method. Positions of weld seams defined in the CAD database are transformed into the robot coordinate, and the dynamic programming technique is applied to find the sub-optimum weld path. Experiments are carried out to verify the system performance. The results show that the proposed automatic teaching system performs successfully and can be applied to the robot system in the subassembly process.

Keywords

References

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