CAJ | 학술논문

提出了机器人在工业生产线中新的应用。针对板材生产线的切割工作，利用机器人进行定位和辅助切割。机器人采用工具坐标系，基于对工业机器人的路径规划，达到短时间完成板材工位转移的目的；通过对机器人动作节拍的设计优化以及双机器人的互锁设计，完成了双机器人的协同工作；在辅助切割过程中，利用全新功能———Softmove功能，可避免碰撞检测误报警，并实现持续向下施加推力的目的。从而无需再添加力控单元，节约了成本和工作量。机器人在切割生产线的应用有效的提高了生产精度和生产效率。
제출료궤기인재공업생산선중신적응용。침대판재생산선적절할공작，이용궤기인진행정위화보조절할。궤기인채용공구좌표계，기우대공업궤기인적로경규화，체도단시간완성판재공위전이적목적；통과대궤기인동작절박적설계우화이급쌍궤기인적호쇄설계，완성료쌍궤기인적협동공작；재보조절할과정중，이용전신공능———Softmove공능，가피면팽당검측오보경，병실현지속향하시가추력적목적。종이무수재첨가력공단원，절약료성본화공작량。궤기인재절할생산선적응용유효적제고료생산정도화생산효솔。
The new application of industrial robot was put forward in industrial production line. For the cut-ting works of the board cutting line, robots were used to finish the positioning and auxiliary cutting. The ro-bot system adopted tool coordinate. Through the planning of the robots path, the board was transferred in a short time. By optimizing the design of robot movement rhythm and double robot coordination, it was com-pleted that the double robots work together. In the process of auxiliary cutting, using the function of Soft-move, the effect of continuous downward pressure was realized without collision detection alarm. So there was no need for adding a force controlling unit. It saved the cost and reduced the workload. The application of ro-bot in cutting production line can improve greatly the production accuracy and productivity.