2017 올해의 10 대기계기술 기술개발기관기술 / 제품명기술의정의핵심기술내용 ( 기술적난이도 ) 파급효과 한국기계연구원산업현장에서사람을도와일을하는사람크기의고성능양팔로봇시스템다품종변량생산이요구되는 IT제품등소형전자제품의셀생산공정에있어, 생산의유연성을확보하면서자동화를통한생산성향상에적용가능한고성능양팔로봇시스템및공정적용기술. 포장 / 조립작업용양팔로봇시스템기존수작업생산라인의최소변형으로로봇자동화도입비용을감소시키기위하여, 사람작업자와유사한크기및작업공간을가지는가반하중 5kg급, 7축구조양팔및허리 2자유도를가지는포장 / 조립작업용양팔로봇 ( 로봇명 : AMIRO) 국산화개발. 기술적파급효과 국내기술로최초의산업용양팔로봇을개발함으로서국내양팔로봇시장을선도할것으로기대. IT 제품의포장및조립에협조하는복수의양팔로봇을적용한것은세계최초로, 양팔로봇을이용한공정개선및생산성향상의기폭제가될것으로예상. 산업용양팔로봇개발을통해서양팔로봇시스템뿐만아니라주변기술 ( 구동기기술, 빈픽킹비전기술, 양팔로봇제어 교시기술, 안전기술등 ) 의월등한기술적비약을이루었음. 경제사회적파급효과 2020년 3,300억원규모의시장형상이전망되는양팔로봇시장은 IT 제품, 소형자동차부품등의조립, 핸들링, 포장, 물류등으로확대예상 양팔로봇핵심기술확보를통한세계양팔로봇기술우위선점및세계수준의로봇강소기업육성 본로봇기술을근간으로 Industry4.0, Smart Factory 시장에로봇중심의시장창출이가능할것으로예상 1) 주요기술개 발실적 양팔로봇상용화를참여기업인 로보스타에서추진중 양팔로봇적용구동기및비전기술등의기업이전 다수의논문및특허확보 SCI 논문 25개, 국외특허등록 6개및출원 8개, 국내특허 42 개등록및 33개출원
별첨 #1 개발 기술 적용 결과 수요기업인 LG전자의 공정 분석을 근거로 기존 생산라인과 유사한 양팔로봇용 파일럿 라인을 구축하여 휴대폰 포장공정 및 카오디오 조립공정의 부분구현을 통한 공정 적용 가능성 검증 및 기존 수작업 공정과 동등한 수준의 작업속도 구현 복수 양팔로봇을 이용한 휴대폰 포장공정 복수 양팔로봇을 이용한 카오디오 조립공정 1) 세부 사항은 별첨에 나열하였음.
별첨 #2 로봇산업 발전 간담회 데모 산업통상자원부 장관 시연.10.11.(화), 한국기계연구원.
번호종류명칭출원일등록일국명등록 / 출원번호 1 국외특허 METHOD OF POST-CORRECTION OF 3D FEATURE POINTBASED DIRECT TEACHING TRAJECTORY 2012-07-06-09-02 미국 8824777 2 국외특허 COMPONENT RECOGNIZING APPARATUS AND COMPONENT RECOGNIZING METHOD 2012-07-10 2015-04-14 미국 9008440 3 국외특허 HOLLOW DRIVING MODULE 2012-12-13-03-22 미국 9293962 4 국외특허 HOLLOW DRIVING MODULE 2012-12-14-12-12 일본 5659446 5 국외특허 HOLLOW DRIVING MODULE 2012-12-24-05-25 중국 ZL201210566862.1 6 국외특허 접촉센서가없는다관절로봇의접촉위치추정 알고리즘및그와상호작용하는접촉상태제어 방법 2013-04-22 - 일본 2013-089427 7 국외특허 8 국외특허 WORKING METHOD USING SENSOR AND WORKING SYSTEM FOR PERFORMANCE SAME APPARATUS FOR INPUTTING TEACHING DATA AND APPARATUS AND METHOD FOR GENERATING TEACHING COMMAND FOR ROBOT 2013-07-11 - 미국 13/940186-02-28-07-19 미국 9393690 9 국외특허 SYSTEM AND METHOD FOR GENERATING TEACHING COMMAND TO CONTROL ROBOT -03-31 - 미국 14/231247 10 국외특허 OBJECT PICKING SYSTEM, OBJECT DETECTING DEVICE, OBJECT DETECTING METHOD 2015-02-12 - 미국 14/621329 11 국외특허 WEARABLE APPARATUS FOR MEASURING POSITION AND ACTION OF ARM 2015-10-19 - 미국 14/886237 12 국외특허 BIN-PICKING SYSTEM AND METHOD FOR BIN-PICKING -03-24 - 미국 15/079261 13 국외특허 APPARATUS FOR PROVIDING ROBOT MOTION DATA ADAPTIVE TO CHANGE IN WORK ENVIRONMENT AND METHOD THEREFOR -07-25 - 미국 15/219066 14 국외특허조립공정용작업장치.02.23 - 미국 US15/050,465
번호논문명저자명저널명일시 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Spatial Uncertainty Model for Visual J.-H. Park, Y.-D. Shin, Features Using a Kinect Sensor J.-H. Bae, and M.-H. Baeg SENSORS 2012 Invariant slow manifold approach for exact Joono Cheong, dynamic inversion of singularly perturbed Youngsu Cho, linear mechanical systems with admissible Seung-Ik Lee output constraints Journal of Sound and Vibration 2012 Dong-Hyung Kim, Proceedings of the Institution of Sensor-based Navigation of a Car-like Chanhun Park, Kyoosik Mechanical Engineers Part C: Journal Robot based on Bug Family Algorithms Shin, Chang-Soo Han, of Mechanical Engineering Science and Ji Yeong Lee 2012 Human-Robot Collision Model with Effective Sang-Duck Lee, Mass and Manipulability for Design of a Byeong-Sang Kim, Advanced Robotics 2013 Spatial Manipulator Jae-Bok Song Summary of Recent Standardization S. Moon, S. Rhim, Y.-J. Activities in the Field of Robotics Cho, K.-H. Park, G.S. Virk Robotica 2013 A General Purpose Contact Algorithm Using a Compliance Contact Force Model for Rigid and Flexible Bodies of Complex J. Choi, J. Choi, S. Rhim Int. J. of Non-linear Mechanics 2013 Geometry Taeyoung Choi, Chanhun Trajectory Correction based on Shape Park, Hyunmin Do, Jinho International Journal of Control, Peculiarity in Direct Teaching Manipulator Kyung, and Gwangjo Automation and Systems 2013 Chung An active sensing strategy for contact location without tactile sensors using robot 이후만, 박재흥 Autonomous Robots geometry and kinematics An Optimal Fuzzy High-Gain Observer for 박창우, 김용태, 유성훈, 현창 International Journal of Advanced an Uncertain Nonlinear System 호 Robotic Systems Yoon-Gu Kim, Miniaturized Force-Torque Sensor Built in a Jeong-Hwan Kwak, Robot End-Effector for Delicate Tool-Tip Dae-Han Hong, Jinung Gripping Control An ELEKTRONIKA IR ELEKTROTECHNIKA VFI-based Robotic Arm Control for Natural W. Yang, J.-H. Bae, and Adaptive Motion H. Kim, IJARS Hole Detection Algorithm for Chamferless Young-Loul Kim, Int. Journal of Precision Engineering Square Peg-in-Hole based on Shape Hee-Chan Song, Jae-Bok and Manufacturing Recognition using F/T Sensor Song Hyunhwan Jeong, Virtual Joint Method for Kinematic Hyungsik Kim, International Journal of Control Modeling of Wheeled Mobile Manipulators Joono Cheong, Automation and Systems Wheekuk Kim Rui-Jun Yan, Jing Wu, Proceedings of the Institution of Mutually converted arc line segment-based Ming-Lei Shao, Kyoo-Sik Mechanical Engineers Part C: Journal SLAM with summing parameters Shin, Ji-Yeong Lee, and of Mechanical Engineering Science Chang-Soo Han Systematic Integration of Finite Element G. Sanborn, J. Choi, J.S. ASME J. of Computational and Methods Into Multibody Dynamics Yoon, S. Rhim, J.H. Choi, Nonlinear Dynamics Considering Hyperelasticity and Plasticity Taeyong Choi, Hyunmin Real-time synchronisation method in Do, Dongil Park, multi-robot system Chanhun Park and Jinho IET Electronics Letters Kyung Byung-jin Jung Ja Human-robot collision detection under Choon Koo Hyouk Journal of Mechanical Science and modeling uncertainty using frequency Ryeol Choi Hyungpil Technology boundary of manipulator dynamics Moon 2015
18 19 20 21 22 23 24 25 Dynamic Analysis and Parameter Estimation of Coupled Three-Link Planar Manipulator with Flexible Belt-Drive System Task space control considering passive muscle stiffness for redundant robotic arms Automation of cell production system for cellular phones using dual-arm robots Collision Analysis and Safety Evaluation using a Collision Model for Frontal Robot Human Impact Optimal Design of an Axial Flux Permanent Magnet Synchronous Motor for the Electric Bicycle Guidance algorithm for complex-shape peg-in-hole strategy based on geometrical information and force control Design of an Anthropomorphic Dual-arm Robot with Biologically Inspired 8-DOF Arms A study on the L_infinity norm analysis of tracking errors in PID/PD-controlled robotic manipulators and its experimental validations T. Lee, J. Choi, S. Rhim Ji-Hun Bae, Jae-Han Park, Yonghwan Oh, Doik Kim, Youngjin Choi, and Woosung Yang Hyunmin Do, Taeyong Choi, Jinho Kyung Jung-Jun Park, Jae-Bok Song, Sami Haddadin Dong-Kuk Lim, Yong-Sun Cho, Jong-Suk Ro, Sang-Yong Jung,, Hyun-Kyo Jung Hee-Chan Song, Young-Loul Kim and Jae-Bok Song J. of Mechanical Science and Technology 2015 ISR 2015 International Journal of Advanced Manufacturing Technology 2015 Robotica 2015 IEEE TRANSACTIONS ON MAGNETICS Advanced Robotics J.-H. Bae, 외 Intelligent Service Robotics 2017 Jung Hoon Kim, Sung-moon Hur, IET Control Theory & Applications Yonghwan Oh 이전기술명 / 대상 연도 계약금액계약금엑 / 총연구비기술료징수액 ( 백만원 ) (%) ( 백만원 ) 5kg급양팔로봇관련기술 / 로보스타 2017 100 / 매출액의 2% 0.24 0 기계설비의동작패턴분석을통한 100 이상동작검출기술 / / 매출액의 1% 스넷트 0.24 100 인간-로봇충돌에의한인체접촉반응 해석기술 / 펑션베이 ( 주 ) 2015 27.37 0.07 27.37 1축관절모듈기술 25 ( 특허, 설계 ) / / 매출액의 0.5% 티엠테크아이 0.06 25 1축관절모듈기술 25 ( 특허, 설계도 ) / / 매출액의 1% 신한자동화기계 0.06 25 로봇용관절모듈시리즈설계기술 30 ( 설계도 ) / / 매출액의 1% 엠토 ( 주 ) 0.07 30 모듈형범용전동그리퍼기술 / 유진엠에스 51 0.12 51