Development of Human Interface System for IMS : Dynamic Design of Master Robots

IMS를 위한 Human Interface 시스템 개발 : 마스터 로봇의 동역학적 설계

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exists a trade-off between counter-balancing and dynamic performance. The concept of a composite index is introduced to simultaneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.