Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
권호 표지

The Real Time Robust Control of a Force Reflecting Master-arm Integrated with a Robot

Force Reflection 기능을 갖는 Master Arm의 실시간 견실에 관한 연구

  • 장준화 (경남대학교 대학원 기계설계학과) ;
  • 김휘동 (연암공업대학 정밀기계과) ;
  • 전완수 (국방과학연구소) ;
  • 이진 (경남대학교 기계자동화공학부) ;
  • 한성현 (경남대학교 기계자동화공학부)
  • Published : 2001.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

A lot of researches have been done in teleoperation field. For accurate and reliable teleoperation, force reflection is required so that the master can feel the same force, which is measured at reflection have been applied to most of the master device. Therefore the master can not control the force exerted by the slave robot to the environment. But some tasks such as an insertion with very small tolerance, skewing bolt and so forth, require the force command from the master.

Keywords