1. 「산업기술의 유출방지 및 보호에 관한 법률」 제2조제2호에 따른 국가
핵심기술 관련 연구개발과제를 수행한 경우
2. 「소재ㆍ부품ㆍ장비산업 경쟁력강화를 위한 특별조치법」 제2조 제3호에
따른 핵심전략기술 관련 연구개발과제를 수행한 경우
3. 법 제21조제2항에 따라 보안과제로 분류된 연구개발과제를 수행한 경우
4. 연구개발기관의 장이 해당 연구개발성과에 대하여 지식재산권을 취득
하려는 경우
5. 외국의 정부ㆍ기관ㆍ단체와의 협정ㆍ조약ㆍ양해각서 등에 따라 해당
연구개발기관의 장이 비공개를 요청하는 경우
6. 「대ㆍ중소기업 상생협력 촉진에 관한 법률」 제24조의 2에 따라 중소
기업이 연구개발성과를 임치한 경우
7. 그 밖에 영업비밀 보호 등 정당한 사유가 있는 경우
※ 국가연구개발혁신법 시행령 (2022.1.1 시행)에 의해 추후 공개로 전환될
가능성은 있습니다.
과제관리기관과의 협의를 통하여 비공개 기한(3년)이 만료된 보고서를 공개로
전환할 수 있도록 계속적으로 관리되고 있으며, 현재 비공개 처리된 보고서의
열람이 어려운 점 양해 부탁드립니다.
ㅇ 연구목표 - 근원적으로 안전한 신개념 로봇 매니퓰레이터 기술과 로봇에 감각을 부여하는 전자 피부(E-Skin)의 설계/대량 생산 기술 및 로봇-작업자 간의 인터페이스 기술 개발을 통하여 미래 인간-로봇 공존 생산 환경에 적용...
ㅇ 연구목표 - 근원적으로 안전한 신개념 로봇 매니퓰레이터 기술과 로봇에 감각을 부여하는 전자 피부(E-Skin)의 설계/대량 생산 기술 및 로봇-작업자 간의 인터페이스 기술 개발을 통하여 미래 인간-로봇 공존 생산 환경에 적용 가능한 세계 최고 수준의 협업 로봇 원천 기술 확보 및 기술 이전을 통한 국내 로봇 기업에의 보급
ㅇ 연구내용 - 로봇 자중 보상 및 인공 근육 모듈 기술에 의해 유연하고 낮은 구동력으로 동작하는 근원적으로 안전한 신개념 로봇 매니퓰레이터와 로봇에 감각을 부여하는 전자 피부(E-Skin)의 설계 및 대량 생산 기술 개발, 인간 생체 신호와 전자피부 신호를 통합한 인간-로봇 간의 인터페이스 기술 개발 등 인간 친화형 로봇 핵심 원천기술 확보를 통해 개발한 협업 로봇으로 인간-로봇 팀 협업 작업구현을 통한 기술 검증
(출처 : 요약 3p)
Abstract ▼
1. Purpose and necessity of R & D □ Purpose of R & D ㅇ To develop the world's best human-robot collaboration technology that...
1. Purpose and necessity of R & D □ Purpose of R & D ㅇ To develop the world's best human-robot collaboration technology that can change the production paradigm to human-robot near distance collaboration: development of the human-friendly robotic technology suitable for human-robot coexistence environment.
□ Necessity of R & D ㅇ Due to the global aging trend and the revival of the manufacturing industry, demand for robots has increased sharply in order to improve manufacturingproductivity and reduce costs. - Expected increase in automation-dependent process due to rising labor costs in emerging economies such as China - Demand for human-robot hybrid process for automation of high-level process which is difficult to completely automate with robot just like assembly process - Robot automation demand is expected to increase globally due to the return of manufacturing in developed countries - Simple repetitive task robot instead of human in isolated space → Collaborative robot sharing working space with humans, resulting in manufacturing paradigmchange of manufacturing robot ㅇ Soaring human-robot coexistence environment - Necessity of application of robot in almost all fields such as medical, defense, and health - In order to apply robots in these fields, it is necessary to have human-friendly robot function that can be used in human-robot coexistence environment. ㅇ Industry system innovation such as Industry 4.0 - The integration of ICT and the machinery industry has led to a rapid increase in demand to optimize the entire production process, - The industrial structure is changing from mass production to multi-product / varietal production and flexible production environment. In order to cope with this, robot technology suitable for human-robot co-production environment isnecessarily needed. □ R & D scope
2. Contents and scope of R & D □ Contents of R & D ㅇ R & D targets (core development contents) - What is a human friendly robot? A safe and friendly robot that can work and stay with humans • Because it operates with very little power, it is safe and quiet enough to work with humans even in environments without a protective fence. • Robots that have similar shapes and senses to human beings and have intuitive interfaces and are easy to use • It would be possible to have new production environment in which human workers share a common working space with robots, by developing human-robotcollaboration techniques in the future. ㅇ Core research content - Human-friendly Next Generation Robot Design / Control Technology: Self-weight compensation mechanism based on elastic mechanism, implementation of highpower density artificial muscle module - E-Skin technology: artificial skin that detects pressure, position, etc., can be attached to arbitrary shape surface of robot, smart platform with sensor /driving element - Human-friendly interface technology: Robot grasps intent of human motion (direct teaching, intuitive and automated human-robot interface) - System integration technology: Integration of detailed technologies developed in this project, construction and demonstration of testbed assembly work of small parts through human-robot collaboration
3. R & D achievements □ Progress towards final research goal ○ Phase Goal o Development of the active impact reduction technology for reducing injury in the event of the collision on the human-robot interaction environments and research on safety improvement through integration with safety operationmechanism (impact force (static load) 50N or less) o Research on the improvement of position control performance of the 6-axis manipulator with spring based self-weight compensator system with 100um precision of the repeatability o Development of the sensor integrated collision detection algorithm and hazard estimation method of the safety manipulator (entrustment) ○ Step performance o Achieve impact force (static load) of up to 41N through the development of active impact force reduction technology based on sensor fusion collision observer including momentum-based collision observer and acceleration error observer and application of 6-axis safety manipulator o A study on the advanced position control performance of a 6-axis manipulator applied with a spring-based self-weight compensation device with arepeatability of 51.9um class
○ Phase Goal o Improvement of the power density and responsibility of the artificial muscle module (Power density 2.5kW/kg) o Development of the 1, 2 degrees of freedom motion and control mechanisms o Development of the artificial muscle module heating/cooling unitminiaturization/high efficiency designtechnology (entrustment) ○ Step performance o Development of the artificial muscle that implements power density of 2.5kW/kg or more o Implement 2 degrees of freedom motion of the human arm using artificial muscles (bending/extension, up/down) o Development of the all-in-one sensor for the artificial muscle and control mechanism o Development of the compact/high-efficiency heat exchanger for efficient heating/cooling of the artificial muscle module
○ Phase Goal o Development of the robot electronic skin with force sensor with force measurement range (0~100N) and resolution (0.05N) o Development of technology for producing the capacitive type force sensor o Development of sensor-robot interface technology o Development of proximity sensors for non-contact collision detection for robot electronic skin o Material analysis/selection and development of the process technology for the production of the 10cm proximitysensor ○ Step performance o Development of electronic skin for robots that can measure the three-dimensional position andthree-axis force of contact force o Developed a capacitive force sensor with a force measurement range of 108N and a force resolutionof 0.017N. o Development of interface that can be combined with robot o Development of robot skin cover capable of measuring non-contact rapid contact distance and contact force o Proximity sensor technology development capable of measuring a distance of 10cm and measuring 3D position
○ Phase Goal o Development of the human motion data acquisition units and securement of the robot mapping technology o Securement of the technology for estimation stiffness based on the electromyogram signals ○ Step performance o Exoskeleton and lightweight wearable type teaching device development o EMG sensor based impedance estimation and control technology development
4. Plan to utilize R & D achievements □ Expansion of research projects, utilization perspective of acquired technologies and knowledge ◦ Deriving the government projects for the diffusion of new concept artificial muscles started from our project ◦ Promotion of high-performance cooperative robot with self-weight compensation safety technology and control technology - Development of industrial manipulator satisfying TS 15066 □ Technology transfer and commercialization of research results, perspective of enterprise support ◦ Parts technology such as self-weight compensation actuator, artificial muscle actuator, flexible electronic skin, etc., ◦ Enterprise consulting related to safety of industrial robots - Cooperative Robot Application and Safety Enhancement Trend under Industrial Safety and Health Law (Based on TS 15066) ◦ Promoting commercialization of robotic systems such as self-weight compensation robots and artificial muscle robots through robot companies □ Use of research results ◦ Tangible outputs (products, research reports, acquired research equipment, etc.) - Developed safety robots could be used for the preliminary study of the related tasks such as the development of high-priced underfloor safe two-arm robots and TS 15066 satisfactory industrial manipulator development. ◦ Intangible products (patents, software, research data, etc.) - Attempts to make technology(such as patents, development software, etc) transfer successful in various fields. - Gravity compensation mechanism robot control S/W, and artificial muscle actuator control S/W are worthy of commercialization.
