Recently, the automatic laser-piercing has become a subject of growing research area in the hydroforming of car body and robotic fields. Generally, the laser-cutting with 6-DOF robot system has 3D error due to a gear backlash and inaccurate calibration method between sensor and cutting-tool. The objective of this article is to study the automatic laser-cutting for the micro-hole piercing of engine cradles. The development of redundant micro-control module and laser vision sensor contributes to the implementation of precise laser cutting. To obtain higher a performance of control module, the calibration algorithm between cutting-tool and laser sensor is required. The implementation of this methodology will be describe. The optimal path generation for a good quality of cutting section is also explained in detail. The experimental results demonstrate the successful operation in the automatic micro-hole piercing. It shows a validity of the micro-motion mechanism and robot‘s calibration algorithm in laser sensor.

Abstract
 1. 서론
 2. 시스템 구성
 3. 이론적 배경
 4. 실험 및 고찰
 5. 결론
 참고문헌

• 신찬배(울산과학대학 디지털기계학부) | C. B. SHIN