(-)

(

)

(

)

1. 1

1. 3

2. 3

3. 4

4. 6

2. 7

1. 9

2. 11

3. 17

4. 29

5. (5)(10/15) 36

3. 39

3.1. 41

1. 43

2. 44

3. 49

4. 57

5. (5)(10/15) 63

3.2. 67

1. 69

2. 72

3. 76

4. 81

5. (5)(10/15) 89

3.3. 95

1. 97

2. 98

3. 100

4. 106

5. (5)(10/15) 113

(

)

4. 117

1. 119

2. 120

3. 123

4. 129

5. (5)(10/15) 132

5. 135

1. 137

2. 139

3. 141

4. 147

5. (5)(10/15) 149

6. 151

1. 153

2. 155

3. 158

4. 163

5. (5)(10/15) 176

7. 183

1. 185

2. 185

3. 189

4. 192

5. (5)(10/15) 196

(

)

- 1 -

(

)

(

)

1.

50

(Hiper-connectivity) (Big data) 4

(infrastructure) 50 .

.

, ,

,

, .

, IT, , ,

.

.

,

.

2.

2001 ( Technology Roadmap, )

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2015 5 19 R&BD

.

2016 10

2016 11

. 8

10

.

,

, R&D .

- 3 -

(

)

,

.

3.

2016 IFR

27%

[4].

2015 Sales Value Sales Volume Growth in Values (vs 2014)

Industrial $11.1B 254k 9%

Professional Service $4.6B 41k 14%

Personal Service $2.2B 5.4M 4%

Total $17.9B

: World Robot Market, IFR Report 2016

, , , ,

S/W , 6 , , , ,

, ,

. //

5/10/15

action plan .

74%(KIRIA, 2015)

1

(IFR , 2016).

. , , , ,

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1

.

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[1] 2001 , ,

[2] 2001 Technology Roadmap ( ) ,

[3] 2014 R&BD (2015~2018), , , PD

[4] IFR World Robot Report, 2016

- 6 -

(

)

- 7 -

(

)

(

)

1.

,

-

, 3

* [IFR, ISO 8373] :

, 3

* [RIA()] :

, ,

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, , ,

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, , ,

, ,

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,

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(

)

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70%~95%

- , ,

-

-

< >

/ / //

24,166 17,125 5,900 10,321 1,443 9,096 68,051

14,867 18,684 2,041 1,659 1,034 38,285

12,273 6,038 1,932 2,204 1,094 3,963 27,504

11,310 11,659 1,285 5,019 676 4,922 34,871

10,059 897 2,031 2,415 521 3,989 19,912

4,624 32 397 165 47 201 5,466

2,162 103 248 75 140 746 3,474

2,094 46 232 451 361 528 3,712

1,639 215 713 1,719 752 1,537 6,575

14,339 9,756 5,556 5,422 1,819 9,006 45,898

97,533 64,555 20,335 29,450 6,853 35,022 253,748

: World Robotics 2016. IFR

- 10 -

(

)

2.

( ) 15 179

(10~15 13% ). 14%

< () >

(: )

10 11 12 13 14 1515/14

5,678 8,278 8,496 9,507 10,193 11,133 9.2% 14%

: World Robotics 2016(IFR : International Federation of Robotics)

2015 : (254) : 2014 15%

2010~2015 : CAGR 14%

27% ( )

5(, , , , ) 75%

,

10 2015

(254) .

. 5(, , , , ) 70%

(: 1000)

(IFR 2016)

- 11 -

(

)

( : ,,)

( : )

14 15 16(e) 17(e) 18(e) 19(e)

24,721 38,285 40,000 42,000 44,000 46,000

29,297 35,023 38,000 39,000 41,000 43,000

57,096 68,556 90,000 110,000 130,000 160,000

6,912 7,200 9,000 9,500 12,000 13,000

31,029 36,444 38,000 40,000 43,000 46,000

20,051 20,105 21,000 21,500 23,500 25,000

6,215 6,657 7,200 7,500 8,000 9,000

2,312 3,766 4,100 4,500 4,600 5,100

2,944 3,045 3,300 3,500 3,800 4,500

39,994 34,667 39,400 44,800 52,600 62,400

220,571 253,748 290,000 322,300 362,500 414,000

2015 68,656 (253,748)

1/4 . 1 36%

, 19 40%

, 2

2015 256,463 (286,554)

2. 69

49

,

()

253,748(15% )

68,556(20% )

27%( 1)

(2010-2015

16% 36%

()

1,631,650(11% )

256,463(35% )

15.7%

( 2)

(2010-2015)

9% 37%

( 1 )

69 49 392

24

: World Robotics 2016. IFR

- 12 -

(

)

(59%) (24%)

(12%)

( ) (94%)

(71%) (42%)

( : )

10 11 12 13 14 1515/14

(%)CAGR10-15

11,775 18,197 18,229 25,375 35,899 40,414 13 28%

1,528 2,256 1,848 6,027 11,695 16,323 40 61%

35 259 251 493 605 934 54 93%

1,184 1,708 2,545 4,263 7,277 8,467 16 48%

456 157 114 421 1,620 2,418 49 40%

: World Robotics 2016. IFR

2013

, 2013

,

27%

53%

, 1

- 13 -

(

)

( )

10 11 12 13 14 1515/14

(%)CAGR10-15

7,431 11,204 11,429 14,207 21,106 24,166 14 27%

/ 2,027 3,206 3,289 6,725 16,726 17,125 2 53%

1,578 2,509 2,198 3,712 6,878 10,321 50 46%

/

1,452 1,236 1,347 2,736 3,511 5,900 68 32%

/

158 321 482 965 1,371 1,443 5 56%

: World Robotics 2016. IFR

() , FANUC,

( ), (), ABB() 4

50% 75% . ( BTMU

114 ( , 2015.7), Mizuho Industry Focus(2015.

3, Vol 169) 51.6%, 32.1%, 13.0%

96.7% , 3.3%

)

, (96%),

(76%), (65%), (58%), (55%)

() . (

.

.

)

- 14 -

(

)

( : )

2013 ,

() ()

14,207 39% 96% 4%

, 6,725 18% 55% 45%

, 3,712 10% 76% 24%

, 2,736 8% 58% 42%

, 965 3% 65% 35%

8,215 22% 59% 41%

36,560 100% 74% 26%

: BRMU 114 (, 2015.7), IFR, CRIA

FANUC, ( ), (), ABB()

4 1 ,

, Nachi, R&D

2 . SIASUN, EFORT

R&D (3), (4)

( K&C Consultingknc-group.com) )

50 400

4 ,

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, ,

(Mizuho Industry

Focus Vol 169 (Mizuho , 2015. 3)

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( ) , 09

1 15 2.5

- 15 -

(

)

< () > (: )

11 12 13 14 1515/14

21,667 19,908 20,910 24,671 25,831 4.7% 4.5%

: 2015 (16.9)

2013 1, 3 9,540 ,

56.7% , 2013 3,464

, , 4 , 1/10

: e-KIET 600, (2014, 10), DB (H.S 847950 )

2009

.

2001 2009

,

2009

.

,

- 16 -

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IT

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- 17 -

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-

.

- /

.

-

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,

- 18 -

(

)

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,

-

- FANUC, ABB, KUKA ,

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, .

- .

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< UniveralRobotics

>

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>

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Sawyer .

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< Rethink Baxter Sawyer>

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Robots, KUKA

- 23 -

(

)

EU FP6, FP7 (SMErobot,

SMErobotics, Rosetta project )

- EU ,

* Rosetta Project(09.03~13.04) :

* SMErobot Project(05.03~09.05) :

* SMErobotics Project(01/2012-12/2016) :

* ReApp Project (01/201412/2016) : SW

* Robo-Mate Project ( 09/201308/2016 ) :

* RoboPartner Project (11/201304/2017) : -

* X-Act Project (10/2012 9/2015) : -

- 24 -

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limiting by inherent design or contorl .

RobotPay-load[kg]

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IT ,

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/

1

2

3 ETRI

4

5

6

7 NTRobot CEO

8 CEO

9

10

11 DSTRobot

12

< >

- 38 -

(

)

- 39 -

(

)

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)

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)

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)

1.

() , IoT

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- () , , DHL

,

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< >

: (2015.12)

- 43 -

(

)

2.

()

- 2016 ~ 2019

53% (: IFR 2016)

< >

2014 20152016 ~ 2019

CAGR2016 2017 2018 2019

() 12.7 19.0175

(36.3%)(25.9) (35.3) (48.1) (65.6)

()/

2.16/17.1%

3.41/17.9%

20.65/11.8%(17.3%)(4.0/

15.6%)(4.7/

13.4%)(5.5/

11.5%)(6.5/9.8%)

()

10.41/82.9%

15.52/82.1%

154/88.2%(39.9%)(21.7/

84.4%)(30.4/86.6%)

(42.5/88.5%)

(59.5/90.2%)

()

511 7795,325

(22.6%)(955) (1,171) (1436) (1,760)

()

40,236 41,00030,429

(-7.8%)(36,879) (33,172) (29,838) (26,839)

: IFR 2016 ( , IFR )

: IFR 2016 ( )

- 44 -

(

)

< >

: IFR 2016 (2016~2019 )

< >

- 2015 7.8(1.9) 2016 ~ 2019 53.3

(17.5) 22.6%(36.3%) , 2019

2015 340%, 220%

- 2015 17.9%, 82.1%

2019 10%, 90%

* : , : ,

- 2019 27,000 2015

41,000 70%

- 2015 (40.5%), (32.2%), (24.7%)

,

(81.1%), (10.7%),

(8.1%)

- IFR ,

- 45 -

(

)

- ,

,

24

()

- 2013 66 13.1%

2018 126 (: , 2015)

-

* 2014 91.7,

2007 25 20112014 21 .

- 2015 81.1% ,

0.1% ~ 0.2%

-

, 90%

- 1 CJ 4.3

1 DHL 5.8% .

()

- 2013 9 , 2020 191

. , , ,

(: KEIT PD , 2016.03)

- 2012 560

65 TOP 3 70%

- 46 -

(

)

20% , ,

(: WinterGreen Research, 2014)

- (37%), (18%),

(7%)

< (WinterGreen Research, 2014) >

< (KERI, 174, 2015.02) >

- , 2023

70% . 2018

(: The

- 47 -

(

)

Freedom Group. Inc. World Agricultural Equipment, 2014.07)

-

, ,

- ,

, , ,

2008 2013 2018 2023

/ 46.4 37.1 32.6 29.7

/ 31.7 42.4 46.0 48.5

22.0 20.5 21.4 21.8

/ 44.4 39.2 34.6 32.1

/ 29.9 39.3 44.0 46.8

25.7 21.5 21.3 21.1

/

/ 36.0 30.4 26.3 23.4

/ 41.5 49.5 52.4 54.9

22.4 20.1 21.3 21.7

< >

: The Freedom Group. Inc. World Agricultural Equipment, 2014.07

()

- 2013 1

- 1990 ,

2013

(:

, 2014.10)

- ( ) 2013 14, 2014 5

(: , , 2015)

-

,

// ,

- IT

- 48 -

(

)

///

3.

/ ()

- ()

- () //, ///,

- () * , HikVision

*

. (Picker)

*

( 80%

)

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Management System)

Pick & Place ()

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24

AS/RS(Automated Storage and Retrieval System) ,

DPS(Digital Picking System),

(Scalability) (Flexibility):

()

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, .

Savioke Relay

- 49 -

(

)

- () , ,

Public

< / >

() () :

4.5 80% 90 15 340kg , 6.4km/h (1.78m/s)

ADEPT () : (// ), ,

, 3 2015 (Omron)

6RS(6 River Systems) () Chuck , ( , , ID,

)

() Quiet Logistics , LocusBot $35,000 : Quiet Logistics, ,

, DHL Quiet Logistics

22.53km 8.04km ,

Clearpath Robotics () OTTO OTTO-1500(2015, 1,500kg) OTTO-100(2016, 100kg)

CIMCORP () AS/RS(Automated Storage and Retrieval System)

: , , : ,

Mobile Industrial Robots () MiR100: 100kg, 10, 1.5m/s, //

- : , , , , P&G, , 30

MiR200: 200kg, (ESD)

GreyOrange Robotics () 90% (Butler): 400-500/ (Sorter) : 300/

Hikvision () HIKRobot: 5kg, 3m/s, 8/1.5 (STO Express, 1)

, 20

- 50 -

(

)

< Pick & Place >

()

Fetch Robotics () Fetch, Freight( 68kg) - Freight500, Freight1500 (: ) Fetch Freight

SW: Fetchcore

InVia Robotics () GrabIt, TransIt GrabIt: Suction , 14kg RaaS(Robot as a Service) : 10/ : LD Products Inc.

Right Hand Robotics ()

Havard, Yale, MIT 500~600

RightPick ,

() AETHON () , , ,

TUG 450kg, 10 // 150

500 (2013) ,

Swisslog ()

TransCar( , AGV), RoboCourier( , )

Savioke ()

, Relay

30

()

HOSPI-R

170kg, 9, 20kg , 1.0m/s

- 51 -

(

)

()

- ()

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< >

()

Starship Technologies ()

9kg, 5-30

Dispatch ()

Carry, 45kg , ,

Marathon Targets() DRU(Domonos

Robotic Unit) Marathon

Targets

()

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< >

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(MATEY)

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(

)

()

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. ,

< >

()

Seegrid () CMU (3D Vision Navigation SW)

Seegrid + (VGV: Vision Guided Autonomous Vehicle)

: : , , BMW, JAGUAR, VOLVO, Walgreens, United

STates Postal Services

Brain Cooperation()

Training (Brain OS) , :

Brain EMMA(Enabling Mobile Machine Automation) + EMMA

/ ()

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, 24

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(/KAIST/ )

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( 250kg/500kg)

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(

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< / >

/

()

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()

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< / >

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R&D

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1, 2013 257 SESAM: 4, 55km

CNH Industrial () 2, 2013 159 //

KUBOTA () 4, 2013 60 (), /

( ) (2017.01)

2020

< / >

()

Cemagref () , ,

Abundant Robotics ()

Cal State Fresno ()

()

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CMU () ,

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ZENBO(ASUS, )

, , , IoT

, ,

BUDDY(Blue Frog

Robotics, )

, , ,

,

TAPIA(MJI Robotics,

)

, 1 , ,

,

KURI(Mayfield

Robotics, )

, ,

, IoT

MykieBosch ()

,

,

Hub BotLG ()

IoT ,

, 2

IJINIIPL ()

,

()

, , ,

:

- 125 -

(

)

-

,

()

Sota

(Vstone/NTT, )

,

PARO

(, )

, ,

, ,

The Autom Robot

(Intuitive Automata,

)

,

Pillo

(Pillo Health, )

, ,

, IoT

Mabu

(Catalia Health, )

,

,

(, )

(, )

,

,

3

(, )

,

:

- 126 -

(

)

()

(Hanson Robotics,

)

,

, ,

Dash/Dot

Wonder (Workshop,

)

.

Cell Robot

(CellRobot, )

.

Leka

(Leka, )

Ozobot

(Evollve, )

,

KUBO

(KUBO Robots,

)

Marvik

(DJI, )

, , ,

,

(, )

, , LED

, 2

,

(SK, )

(, )

()/ ,

-

- 127 -

(

)

( (KEIT PD Issue Report, 2016.9.) )

-

, ,

-

,

-

, , ,

,

- (Cortana)

AI

-

, .

MS

- ,

-

- (Andew Ng)

1 74.8%

2012 6

- ,

2014 3

. 97.25% .

-

HRI

- Hanson Robotics() HRI

- 128 -

(

)

- HRP

, ,

- MIT () ,

(Kismet, Leonardo, Tofu)

- USC()

Sparky

Bandit

- () ,

,

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,

Watson

- Watson 20112

, 1

- Watson

, 1 80 1 100

. 2011 10

2015 4

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- Pepper IBM Watson

4.

() 70~80% ,

,

- 129 -

(

)

- ,

- ,

- Pepper, Jibo

,

- ,

- (Scratch)

-

,

- 130 -

(

)

( )

()

/

(, , ,

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( )

/

,

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IoT

(/ )

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(/, /

)

AR/VR

- 131 -

(

)

5 10/15

(,

)

-

, ,

-

- (,)

- , , ,

-

,

-

-

,

-

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)

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( )

- DB

-

-

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-

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- VR/AR

//

-

-

, /

/

- , ,

,

5. (5)(10/15)

- 132 -

(

)

/

1

2

3

4

5

6

7

8

9

10 DIGIST

11

12 SK

13 /

14

15

< >

- 133 -

(

)

(

)

- 135 -

(

)

(

)

1.

, ,

() , ,

/

, (HRI)

- ( ) , ,

, , localization, , , ,

- ( )

- 137 -

(

)

, ,

, , , HRI

- ()

,

,

,

,

, , FPGA,

- 138 -

(

)

2.

() , ,

() 7

-

* 30% Maxon(tm)

5

* 103 (Markets and Markets, 2015)

() , 27 161 (IDTechEx, 2016.12)

- 16 0.9 27 57, 16 1.8 27 69

* 16 1,235 12%

(BCC, 2017). (24%)

(18%)

() 20 7% (Research and Markets, 2016.10)

* ABB, FANUC, KUKA, Yaskawa Electric ,

18 130

15 9,347 53.2%

- 15 (4,414), (617

), (1,039), (946)

* 15 4,836 14(3,196) 51.3% ,

1,558 (1,780) 12.5%

- 139 -

(

)

< 2016 >

( : )

103,897 98,380 98,380 -

441,445 474,920 463,588 11,332

94,646 95,231 89,573 5,658

61,731 66,084 65,191 893

70,717 70,717 65,217 5,500

162,278 155,372 142,589 12,782

934,713 960,704 924,538 36,165

: 2015 , , 2017

,

- ,

(75%) 1

(MIZUHO BANK, `15.3)

< >

( : )

2011 2012 2013 2014 `13

1,909 1,829 2,223 3,409 53.3%

79 120 207 265 28.3%

1,877 1,627 2,354 1,978 16.0%

= -+ 3,707 3,336 4,370 5,122 17.2%

-/) 49.4% 51.2% 46.1% 61.4% -

: 2014 , KIRIA, `15.10 ()

- 140 -

(

)

3.

() 2D 3D (feature)

(, ,

)

- (Kinect) 3D

,

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*

* ,

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- /

()

* Opto-Force, Robotous

* - Laser

Depth,

- KIVA

SLAM

* SLAM , SLAM

SLAM , ,

- ,

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* / , SLAM

()

- 141 -

(

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-

,

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* Kollmorgen Hygienic stainless steel washdown motor(IP69K,

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- ,

Smart Actuator"

* , , Vision

IT

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AC ,

HNC'12 AC , 15

-

* HDS

/

- ,

, ,

,

*

() ,

IoT ,

- , Nexcom, Keba, Beckoff

Soft

- 142 -

(

)

Motion

* Keba

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/ S/W . ,Beckhoff

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*

- ,

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o , , 5

(2016-2020) (16 3)

- , *

,

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* Leader Harmornic Drive

- 143 -

(

)

(~) (~)

3D

3D

( )

/

/

- 144 -

(

)

Vellodyne()/SIck() Pulse Laser TOF 2D, 3D

LIDAR

FLIR/GOODRICH() SWIR

Intel() 3D ,

Schunk() DLR FT

OptoForce()

Tekscan() FSR(Force Sensing Resistor) , PPS(Pressure Profile

Systems) capacitive sensing

RoboDrive()

BLDC

Maxon()/MINIMOTOR()

DC, BLDC , , Network One B/D

Controller

() Wave Generator, Flexspline, Circular Splin

DUNKER MOTOR() Package

SynqNet(), Mechatro- link(),

Beckhoff()

,

Elmo() /

KEBA() , ,

NEXCOM()

- 145 -

(

)

() 2D 3D . / 3D

, Intel 3D OEM

()

ToF 3D

SW

()

()

, /

() DC , , Network

Package

()

BLDC, FA

SPG

IGB

RST

, ,

,

,

RS PLC, ,

, ,

- 146 -

(

)

4.

,

-

-

( )

,

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/

* / ( ,

, 16bit ),

*

*

* Industry 4.0 , IoT(Internet of Things)

,

* , SW

-

,

* ,

( ) ,

,

* ,

* 3

- 147 -

(

)

( ) , ,

*

*

( ) , , /

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* ,

*

, ,

Non-programming

( ) ,

,

* , /

* , /

* ,

*

( )

* , ,

* , SW

* IoT,

- 148 -

(

)

5. (5)(10/15) (5) (10) (15)

/

/

3rd Hand

Side by Side

//

& /

/

/

/

,

/

(, )

/

/

(., , )

/

(, , )

/

//

- 149 -

(

)

/

1 KETI

2 KETI

3

4 TM

5

6

7 THK

8 IGB

9 SBB

10 RSA

11

12

< >

- 150 -

(

)

S/W

- 151 -

(

)

(

)

1.

,

, , , IoT

IT

1)

( ) ( )

(: , , PLC, OLP )

, , , IoT , , HRI, , (: , )

= +

1) . ,

- 153 -

(

)

,

, ,

-

-

,

(OLP)

2)

-

- IoT

- ,

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//

- /

, Cycle Time ,

2) HRI, ,

- 154 -

(

)

, / ,

-

, /

- -

, -, -

-

,

2.

- ,

,

-

,

PLC CoDeSys TwinCAT

OpenRTM ,

, ROS OPRoS

ROS

- 155 -

(

)

- ,

ISO TC299 WG6

-

,

-

(Siemens()

PD/PS Dassault() V6 Robotics)

4M3)

// ,

, ,

2000

,

-

.

20 61

* () 15 12 20 61 38.43%

* () 15 7% 840 20, 10%, 6 5

: ETRI , 2016-02, R&D

, ]

- 15

1 1 (1,250 ) 22 33 (3 7500 )

60% , 1

: MarketsandMarkets, Collaborative Robots Market by Payload (Up to 5 Kg, Up to 10 Kg, &

Above 10 Kg), Application, Industry and Geography Global Forecast to 2022, 2016

3) 4M : Man, Machine, Material, Method

- 156 -

(

)

- 17 120,136 10.5%

: Global Insight, Global Industry analysis, ABI Research, IMS

- ()

,

,

- ILSVRC4)

,

R&D

- , ,

,

- , ,

, Hard-coded controller

, ,

,

4) ILSVRC : ImageNet Large Scale Visual Recognition Challenge

- 157 -

(

)

-

, ,

/

-

, ,

-

,

.

-

3D CAD

,

3.

OMG 16 Hardware Abstraction

Layer for Robotic Technology HW

, HW

- 158 -

(

)

ISO 13849, ISO 12100, ISO/TS 15066, IEC 61508, IEC62601

,

- ISO 13849 IEC 61508, IEC62601

(security)

ROS 2.0

OMG OPRoS life cycle

- ROS-industry ROS 1.0

- AB RobotStudio

.

-

,

,

- 8~12

, ,

-

, Cycle

Time , ,

,

- 159 -

(

)

,

,

3D , VR(Virtual Reality)

-

, ,

()

CMU 700 5

UC Berkeley

CNN

,

GPS(Guided Policy Search)

-

()

-

- 160 -

(

)

,

- ROS

,

ROS Plan, Semantic Robot

Description Language

ROS

,

- ,

- ,

.

Aerospace Lab AMPLE,

MOMDPs, MIT Grasping POMDPs

,

, ,

- ,

, , ,

-

,

- EU FP7 2009 4 RoboEarth

, ,

- 161 -

(

)

, RoboEarth

- Bremen , ,

KnowRob

,

.

- DARPA KSE, Telecom JADE, ETRI CAMUS

(KQML)

(, )

- 2003

- DARPA5) DASADA6)

2000 2002 USC7) ISI8) TBASSCO9)

DASADA

DASADA

Phase II

-

/

- ETRI

, /,

5) DARPA (Defense Advanced Research Projects Agency)6) DASADA (Dynamic Assembly for System Adaptability, Dependability, and Assurance)7) USC (University of Southern California)8) ISI (Information Sciences Institute)9) TBASSCO (Template-based Assurance of Semantic Interoperability in Software)

- 162 -

(

)

4.

OLP

-

, ,

PC DOS HW ,

AUTOSAR

, , ,

- , , ,

,

30 18 ,

40/ 65/

, / ,

- ISO 13849

,

- 163 -

(

)

-

,

,

-

,

, ,

-

- -- IT

- 164 -

(

)

(1)

- ISO

() , ,

. CoDeSys

, ,

()

, (, VR )

. (manipulation)

, (mobility) ,

.

-

() OPRoS, OpenRTM

, ROS

, OPRoS

()

,

.

,

.

ISO 13849

10)

- ISO13849

() OPRoS, OpenRTM

10) : Average probability of dangerous failure per hour

- 165 -

(

)

,

.

. ROS ISO 13849

() IEC 13849

IEC 13849

.

(safe-stop)

(safe-operation) .

, ISO 13849

- PLC IIoT

() CoDeSys TwinCAT PLC

4 ,

SW PLC

. OPRoS IIoT SW

.

CNC MC(Machining Center)

,

()

,

IIoT

(2)

-

() 2D 3D CAD

.

.

() 3D CAD (Point Cloud)

. ,

Kinematics Model

,

- 166 -

(

)

-

() Spot

,

.

()

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(, , )

-

()

(

Cycle Time)

()

,

Cycle Time

- (Teaching)

() ,

Step

() , VR

, ,

//

-

()

(Error Code) ,

- 167 -

(

)

()

,

(1)

-

()

planar grasp

()

,

, ,

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deep reinforcement learning)

()

, (parallel

collaborative framework),

(adversarial framework)

()

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transfer learning)

()

CNN(AlexNet )

- 168 -

(

)

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(2)

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() , ,

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()

(1) ,

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(2)

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(1) , ,

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-

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(

)

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(4)

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() VQA11) .

,

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,

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[]

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11) VQA : Visual Question Answering

- 170 -

(

)

, ,

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(5)

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() ,

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Capability

.

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()

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- 171 -

(

)

o (1) -

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- , - (ISO13849 )

o (2) - (PLC, MC ) IIoT

ISO 13849 - ISO 13849 ISO 12)

( , , , ///, )

- HRI (/ )

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, / SW PLC SW , HRI

- ISO 13849

o (3)ISO 13849 - ISO13849 - (Linux ) ISO 13849

- MC

SW -

AUTOSAR

()

- 172 -

(

)

o (1) - 3D CAD, Data

- Kinematics &

Motion -

-

- ,

- Kinematics Calibration -

Realistic Robot Simulation - Cycle Time

- - ( ) -

o (2) - VR

- - (/// ) -

- 3 Live Manual

o (3) , - , , ,

- , ,

Siemens PD/PS,

DassaultV6,

DMWorks,

ABB

RobotStudio,

FANUC

RoboGuide,

KawasakiK-Roset,

HRSpace

o (1) -

-

-

Self-supervised Learning(CMU),Deep

Visuomotor Policy

(UC Berkeley),Distributed Asynchronous

Guided

12) ISO TC299 WG6 ISO/NP 22166-1 , 3

. ISO 13849, ISO 12100,

ISO/TS 15066, IEC 61508, IEC62601

- 173 -

(

)

o (2) -

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(UC Berkeley)

o (1) -

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DASADA(DRAPA)Rainbow Project(CMU, ABLE)

o (1) -

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KnowRob,RoboEarth

- 174 -

(

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(Configuration) - (, IoT ) /,

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X-Brain, Movie

Question

- 175 -

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Challenge, TRECVID Video

Hyperlinking

5 10 15

- ,

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- ISO

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- 176 -

(

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HW

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- 177 -

(

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1 PL

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(

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(

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)

1.

,

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2003 ISO

,

2.

, , , , ,

.

ISO ,

, IEC

, OMG , ASTM()

,

, ISO IEC

CE UL

ISO

- ISO TC 299(Robotics) ,

5 WG 3 JWG(Joint Working Group)

- 185 -

(

)

- WG1

WG4 , WG6

- ISO TC299 WG1 (Vocabulary and characteristics)

: , ISO 19649(Vocabulary for mobile robots) (2017)

* ( AGV, , ),

- ISO TC299 WG2 (Personal care robot safety)

: ISO 13482(robots and robotic devices - Safety requirements for service

robots - Personal care robot) (2014)

ISO 13482 ISO/CD TR 23482-1(Part 1: Safety-related test methods, Part 2: Application guide)

- ISO TC299 WG3 (Industrial safety)

: ISO 10218 ISO TS 15066(Robots and robotic devices - Collaborative robots) (2016) ISO/NP TR 20218-1( - Part 1: Industrial robot system

end of arm tooling (end-effector), Part 2: Industrial robot system manual load

stations)

- ISO TC299 WG4 (Service robots)

: ISO 18646-1(Robotics - Performance criteria and related test methods for

service robots - Part 1: Locomotion for wheeled robots) (2016)

Part 2: Navigation Part 3: Manipulation - ISO TC299 WG6 (Modularity for service robots)

- 186 -

(

)

: HW SW ISO/WD 22166-1(Robotics - Modularity for service robots - Part 1 : General

Requirements)

- ISO TC299 JWG5/IEC TC62 SC62A JWG9(Medical electrical equipment

and systems using robotic technology)

: TR(Technical Report) IEC/TR 60601-4-1(MEDICAL ELECTRICAL EQUIPMENT Part 4-1: Guidance

and interpretation Medical electrical equipment and medical electrical

systems employing a degree of autonomy) (2017.2)

- ISO TC299 JWG5/IEC TC62 SC62D JWG35(Robotically assisted surgical

equipment)

: IEC/CD 80601-2-77(Medical electrical equipment - Part 2-77: Particular

requirements for the basic safety and essential performance of Robotically

assisted surgical equipment)

- ISO TC299 JWG5/IEC TC62 SC62D JWG36(Medical robots for rehabilitation)

: IEC/CD 80601-2-78(Medical electrical equipment - Part 2-78: Particular requirements

for the basic safety and essential performance of MEDICAL ROBOTS for

REHABILITATION, ASSESSMENT, COMPENSATION or ALLEVIATION)

IEC

- IEC TC59 (Performance of household and similar electrical appliances)

IEC TC59(Performance of household and similar electrical appliances)

IEC TC59 SC59F WG5(Surface cleaning robots) IEC TC59 WG16(Performance evaluation method of intelligent mobile robot platform

for household and similar applications)

, WG5 WG16

IEC

IEEE

- IEEE P1873(Standard for Robot Map Data Representation for Navigation)

Map Data P1873/D1 * 2

2015 IEEE-SA

- 187 -

(

)

* 2016 5 3 IEEE RAS IAB

SCSA

OMG

- OMG NEDO JARA

Robotics-DTF , 2005

, RTC(Robot Technology Component) RLS(Robotic

Localization Service)

ASTM

- ASTM ,

. E54(Homeland Security Applications)

, F38(Unmanned

aircraft systems) ,

F41(Unmanned maritime vehicles)

KS

- 13

(COSD) ,

43

28

. KS IEC

(IEC 62929)

< >

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(

)

(KOROS)

- 2005 (KOROS)

, 120

27 KS

- ,

< >

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(KS)

IEC 62929

. S

Very

Good .

2015

60%

KS B 7302