한국인터넷방송통신학회논문지 (The Journal of the Institute of Internet, Broadcasting and Communication)

  • 제10권4호
  • /
  • Pages.77-82
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  • 2010
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  • 2289-0238(pISSN)
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  • 2289-0246(eISSN)
한국인터넷방송통신학회 (The Institute of Internet, Broadcasting and Communication)
권호 표지

햅틱기술을 이용한 피시봇 개발

Development of the Fishbot Using Haptic Technology

  • 이영대 ((사)인터넷방송통신기술원 연구소) ;
  • 강정진 (동서울대학 정보통신과) ;
  • 문찬우 (국민대학교 전자공학부)
  • 투고 : 2010.05.06
  • 심사 : 2010.08.13
  • 발행 : 2010.08.31
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초록

본 연구에서는 가상낚시시스템(VFS, Virtual Fishing System)을 위해 제작된 햅틱장치인 FishBot을 개발한다. FishBot는 XY테이블에 휠축을 장착한 3자유도 로봇으로 구성된다. 물고기의 동작을 모사하기 위해 XY 축 제어는 토크값을 가변적으로 제한하는 모션 위치 제어 모드로 하고 휠 축은 힘제어 모드로 하였다. 낚싯대는 실제 낚싯대에 LED를 장착하고 웹 카메라를 튜닝하여 낚싯대의 위치를 인식할 수 있도록 하였다. 결과적으로 제작된 Fishbot은 물고기와 같이 위치와 속도를 변화하고 DAC를 통해 낚는 힘을 제어할 수 있으며 낚싯대 끝단의 위치를 관측하여 가상현실시스템(Virtual Reality System)상에서 연동할 수 있게 하였다.

In this paper, a haptic fishing robot, Fishbot, for a Virtual Fishing System is presented. Fishbot is 3DOF robot and it consists of a XY table and a wheel motor. To simulate the motion of fish, XY table is controlled by position servo drivers with variable torque constraint, and wheel axis is controlled by torque servo driver. Finally, Fishibot detects the end point of fishing pole with cameras to recognize the pose of user, and it can interface with a Virtual Reality System.

키워드

참고문헌

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