제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.974-979
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- 1990
The teleautonomous control of an integrated FRHC-PUMA telerobot control system
- Lee, Jin-S. (Department of Electrical Engineering POSTECH) ;
- Kan, Edwin-P. (Jet Propulsion Laboratory California Institute of Technology)
- 발행 : 1990.10.01
초록
The system discussed in this paper is an integrated stand-alone system with the full functional capabilities required of a telerobot system. It is complete with a force-reflecting 6-DOF hand controller, driving a PUMA 560 or 762 robot, with an integrated force-torque sensing wrist sensor and servo-driven parallel jaw gripper. A mix of custom and standard electronics, distributed computers and microprocessors, with embedded and downloadable software, have been integrated into the system, giving rise to a powerful and flexible teleautonomous control system.
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