제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.1513-1518
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- 1996
Design of a 6-DOF force reflecting hand controller
힘 반향 6자유도 수동조작기의 설계연구
Abstract
A force reflecting hand controller can be used to provide more realistic information to the operator of a teleoperation system such as kinesthetic feedback from a slave robot. In this paper, a new design concept of a force reflecting 6-DOF hand controller utilizing the kinematic structure of a Stewart Platform is presented. Based on the optimal design technique of a Stewart Platform, a force reflecting hand controller has been designed and constructed to verify the technical feasibility of proposed design concept. In order to provide an operator with kinesthetic feedback information, a force mapping algorithm based on a reciprocal product of screws has been introduced. Finally, the technical feasibility of the design concept has been demonstrated through some of experimental results of the device under virtual environment on a real-time graphic system.
Keywords