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협동로봇 시스템 – (주)두나정보기술

개요

인간과의 직접적인 상호 작용을 위해 설계된 로봇. 일반 로봇은 다소 자율적으로 움직이도록 만들어졌으나 협동 로봇은 사람이 어떤 작업을 성공적으로 수행할 수 있도록 도와준다. 예를 들어, 길을 잃어 방황하거나 수행할 작업을 벗어나 헤매는 사람을 바른길로 안내한다. 기존에 인간이 하던 작업을 상세히 분석하여 인간은 로봇이 할 수 없는 고도작업만을 수행하고 부대작업은 가능한 한 로봇이 담당하도록 조정함으로써 인간과 로봇의 협동작업에 의해 노동생산성 및 자본생산성을 향상시킬 수 있다. 숙련 작업자의 생산성을 향상시키기 위해 로봇이 부가가치가 낮은 보조 작업을 지원하는 방식으로 인간과 로봇이 협동작업을 하기 때문에 안전 인증과 같은 안전관리 기술의 확립이 절대적으로 필요하다.

 

목적

협동 로봇은 인간이 수행하기에 가혹한 3D환경을 대신하기 위해 도입되기 시작하여 자동차 스폿용접 및 도장 공정에 본격적으로 보급이 확대되었다. 현재는 자동차산업 및 일반산업 분야를 포함하여 국내외 다양한 분야에서 진가를 발휘하고 있다. 2000년 이후 비전센서와 힘 센서를 탑재하여 자율성을 확보한 협동 로봇이 등장하여 특정작업에 사용되기 시작하였다. 지금까지 로봇으로는 할 수 없는 고도작업을 자동화하고 제조비용을 절감, 납기단축, 숙련 작업자 감소 등 제조업이 안고 있는 여러 가지 과제를 해결하고 생산시스템의 국제경쟁력을 향상시키는 수단으로 도입이 확대되고 있다.

 

협동로봇의 핵심기술

제조 환경에서 사람과 로봇이 공존하기 때문에 협동 로봇은 편리성, 유연성, 안전성이 요구된다. 따라서 협동 로봇의 핵심 기술인 경량, 안전 로봇 시스템, 편리한 사용, 작업지능 개발, 공정개발, 표준화 기술 개발이 필요하다. 경량 로봇 기구부와 안전한 로봇 구동이 가능한 제어부를 개발하기 위한 6가지 기술, 누구든 쉽게 로봇을 사용할 수 있도록 하는 기술과 유연한 작업에 대응할 수 있는 로봇 작업 지능을 개발하기 위한 4가지 기술, 협동로봇이 실제 공정에 사용할 수 있도록 적용하는 기술과 안전 기준을 만족할 수 있도록 안전 요구 조건에 대한 분석, 대응 및 표준화 기술은 다음과 같다.

 

1. 경량 안전 로봇 시스템 개발

– 중력 보상 적용 로봇 설계 및 제작

정격 동력 대비 기반 하중을 최대화 할 수 있는 중력보상 메카니즘을 적용하는 기술로 링크 내장식 설계를 통해 보상 장치의 추가로 인한 로봇 부피 증가를 최소화 하는 기술과 로봇의 신속한 조립 및 설치를 위해 기구부의 모듈화를 구현하는 기술이다.

– 저동력 액츄에이터 제작

로봇 경량화 및 소형화를 위해 저동력하에서 저속 고토크 성능을 확보하기 위해 액츄에이터의 고출력, 고밀도화를 구현하는 기술이다. 이를 위해 액츄에이터를 구성하는 센서 및 구동부품을 소형화하는 기술이다.

– 컴팩트 모터 제어기

저동력 액츄에이터에 내장될 수 있는 소형 및 모듈화가 가능한 모터 제어기를 개발하는 기술로서 배선, 전장 설치 및 유지 보수의 간편화를 위해 실시간 통신 방식이 선호된다.

– 경량 안전 로봇 제어기

고성능 멀티코아프로세서, 실시간 OS기반의 로봇 모션 제어, 작업교시, 로봇 전용 프로그램 편집기, 해석기, 시뮬레이션 기능, 다양한 오류 검출 및 처리 등을 포함하는 협동 로봇 제어기를 개발하는 기술로서 실시간 통신 방식의 제어 기능, 직관적 UI 및 로봇 시뮬레이션 기능을 포함하는 편리한 사용성, 협동로봇 안전 기준 요건을 만족하는 안전성 등이 요구된다.

– 충돌 감지 및 최소화 기술 개발

로봇이 사람과 충돌했는지 감지하고 이에 대한 충격을 최소화하는 기술로 고가의 힘센서를 사용해 구현할 수 있으나 센서를 사용하지 않고 모터의 전류 및 로봇의 기구적 상태 정보를 사용해 관절 토크를 추정하는 저가의 방법이 선호된다.

– 비접촉 충돌 방지 및 대응 기술 개발

발생 가능한 로봇의 충돌을 사전에 방지하고자 작업물 이외의 장애물 또는 사람과의 접근을 감지해 로봇의 속도를 줄이거나 정지 또는 경로 변경을 하는 기술이다.

 

2. 편리한 사용, 작업지능 개발

– 직관적 교시 기술

소형, 경량, 저가화를 고려해 사용자 친화적이며 직관적인 작업 교시가 가능한 인터페이스를 개발하는 기술이다.

– 신속한 설치

고해상도 비젼 시스템을 기반으로 특정 마크인식을 통한 고정밀, 고속 로봇 자세 보정 알고리즘을 구현해 로봇의 사용 위치가 변경되어도 신속하게 캘리브레이션 기능을 수행해 기존 교시점들을 변경하지 않고 손쉽게 변경 전 작업이 가능하도록 하는 기술이다.

– 로봇 인식 지능 기술

임의로 적재된 물체의 위치 검출 및 거리 추정을 통한 자동 물체 인식, 위치 및 자세 가변에 따른 기하학적 형태 변형에 대응할 수 있는 가변 물체 인식, 시점 변화 물체 영역 추적 및 거리를 추정하고 크기, 회전 변화에 대응할 수 있는 동적 물체 인식, 사용자 위험 동작 인식 등 환경 및 모델 변화에 유연하게 대응할 수 있는 물체 인식 기술이다.

– 로봇 작업 적용기술

물체 인식 기술 기반의 비주얼 서보잉 로봇 제어 적용 기술 및 모델 변경 및 사용자 동작 인식 기반의 로봇 작업 적용 기술이다.

 

3. 공정개발, 표준화

– 실제 적용 공정 수요 조사 및 적용성을 분석하고 요구 조건을 만족하도록 자동화 공정을 개발하고 단위 공정 지그 및 파일럿 라인을 구축하여 로봇의 기능 및 성능을 검증하는 기술이다.

– 협동로봇 국제안전요구조건인 ISO 15066 및 ISO 10218-1에 대한 안전 요구 조건을 분석하고 실제 적용에 필요한 안전 기술을 개발하여 대응하는 기술이다.

 

효과

  • 공정 재배치가 용이하여 생산 유연성 증대 효과가 크다.
  • 설치와 운영이 쉬우며 안전하다.
  • 추가 투자비용과 시간이 절감되는 효과가 있다.
  • 제조공정의 효율성을 높이고 비용을 절감한다.