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신발 창 접착제 도포 로봇 자동화 시스템을 위한 3차원 모델 기반 경로 생성 알고리즘

3-D Model-Based Trajectory Generation Algorithm for Robotic Shoe Sole Spray System

Journal of the Korean Society for Precision Engineering 2021;38(11):825-832.
Published online: November 1, 2021

1 한국로봇융합연구원 인터랙티브연구본부

2 한국교통대학교 기계공학과

3 서울시립대학교 기계정보공학과

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#E-mail: mjhwang@uos.ac.kr, TEL: +82-2-6490-2389, mulimkim@kiro.re.kr, TEL: +82-54-240-2531
• Received: July 7, 2021   • Revised: August 20, 2021   • Accepted: September 24, 2021

Copyright © The Korean Society for Precision Engineering

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  • Hierarchical Path Planning Method for Automated Valet Parking Systems
    Chanyoung Lee, Kibeom Lee
    Journal of the Korean Society for Precision Engineering.2024; 41(5): 365.     CrossRef
  • Automation of Shoe Upper Adhesive Spraying Process Using Robot
    Won Bo Jang, Sang Hyun Park, Seong Youb Chung, Myun Joong Hwang, Murim Kim
    Journal of the Korean Society for Precision Engineering.2023; 40(12): 981.     CrossRef

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3-D Model-Based Trajectory Generation Algorithm for Robotic Shoe Sole Spray System
J. Korean Soc. Precis. Eng.. 2021;38(11):825-832.   Published online November 1, 2021
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J. Korean Soc. Precis. Eng.. 2021;38(11):825-832.   Published online November 1, 2021
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3-D Model-Based Trajectory Generation Algorithm for Robotic Shoe Sole Spray System
Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image
Fig. 1 Structure of shoes
Fig. 2 ORISOL robot system for the sole adhesive work2 (Adapted from Ref. 2 on the basis of OA)
Fig. 3 KIRO robot system for the sole adhesive work
Fig. 4 Conventional sole adhesive work
Fig. 5 Mold and sole of the intelligent shoe factory
Fig. 6 Algorithm of customized sole adhesive work using a robot automation system
Fig. 7 Target points on the contour of sole
Fig. 8 Algorithm for target points extraction
Fig. 9 An example of STL model (Left), point cloud model (Center), and preprocessed model (Right) of sole
Fig. 10 Quadrant division of point cloud
Fig. 11 Algorithm for quadrant division
Fig. 12 Sub-cloud division of point cloud
Fig. 13 Top point extraction algorithm along z-axis
Fig. 14 Top points of sole (d = 3 mm) along z-axis
Fig. 15 Filtering concept for eliminating wrong top points along z-axis
Fig. 16 Filtering result of top points along z-axis
Fig. 17 Extraction concept of equally interval point
Fig. 18 Extracted points for the sole adhesive work
Fig. 19 Principle of Catmull-Rom spline
Fig. 20 Testbed for the sole adhesive work
Fig. 21 Desired posture of robot end-effector
Fig. 22 Desired velocity of robot end-effector
Fig. 23 Desired acceleration of robot end-effector
Fig. 24 Desired speed of robot end-effector
Fig. 25 Experimental result of sole adhesive work using robot
3-D Model-Based Trajectory Generation Algorithm for Robotic Shoe Sole Spray System
No. X pos Y pos Z pos
1 128.70 -0.09 -2.87
2 132.88 -13.03 1.04
:
52 104.68 25.47 -9.16
53 113.09 18.94 -7.66
54 121.16 11.13 -5.60
Table 1 An example of the 3-D position data of results for the sole adhesive work