전력전자학회:학술대회논문집 (Proceedings of the KIPE Conference)

전력전자학회 (The Korean Institute of Power Electronics)
권호 표지

PHANToM Device를 이용한 다관절 로봇의 원격제어 시스템 설계

Design of Remote Manipulator Control System using PHANToM Device

  • Kim, Hyun-Sang (School of Electric, Electronic and Information Engineering, University of Ulsan) ;
  • Kang, Hee-Jun (School of Electric, Electronic and Information Engineering, University of Ulsan)
  • 발행 : 2005.07.04
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초록

This paper shows the development of remote control system for manipulators which consists of PHANToM Device as a master, Samsung FARA robot as a slave and TCP/IP based LAN fortheir Communication. This work includes the motion mapping between the master and the slave, Generation of virtual viscosity force preventing operator's unwilled action and 3D remote control simulators for the stable operation of the remote control system, etc. The remote control implementation has been performed and the results shows that the developed system can allow the operator to effectively control the manipulator.

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