제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Implementation of a Remote Peg-in-Hole Operation using a Two Degrees of Freedom Force-Reflective Joystick

  • Sung K. An (Pusan National University, Dept., of Electronics Engineering) ;
  • Seung J. Han (Pusan National University, Dept., of Electronics Engineering) ;
  • Lee, Jang M. (Pusan National University, Dept., of Electronics Engineering)
  • Published : 1998.10.01
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Abstract

A virtual reality system is implemented for the operator supervising a robot's operation at a remote site. For this implementation, a two D.O.F force-reflective joystick is designed to reflect the force/torque measured at the end of robotic manipulator and to generate the motion command for the robot by the operator using this joystick. In addition, the visual information that is captured by a CCD camera, is transmitted to the remote operator and is displayed on a CRT monitor. The operator who is holding the force reflective joystick and watching the CRT monitor can resolve unexpected problems that the robot confronts with. That is, the robot performs the tasks autonomously unless it confronts with unexpected events that can be resolved by only the operator. To demonstrate the feasibility of this system, a remote peg-in-hole operation is implemented and the experimental data are shown.

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