Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지
DOI QR코드

DOI QR Code

Study of 7 Degree of Freedom Desktop Master Arm

7자유도 탁상식 마스터 암의 설계 연구

  • Choi, Hyeungsik (Korea Maritime University Intelligent robot and Automation Laboratory) ;
  • Lee, Dong-Jun (Korea Maritime University Intelligent robot and Automation Laboratory) ;
  • Ha, Kyung-Nam (Korea Institute of Industrial Technology, Marine Robot Center)
  • 최형식 (한국해양대학교 기계시스템공학과) ;
  • 이동준 (한국해양대학교 기계시스템공학과) ;
  • 하경남 (한국생산기술연구원 동남권지역본부 해양로봇센터)
  • Received : 2012.05.04
  • Accepted : 2012.12.11
  • Published : 2012.12.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

Keywords

References

  1. Shim, H.W., Chun, B.H., Lee, P.M., 2011. Mobility and Agility Analysis of Underwater Walking Robot. Conf. of he Korean Associaation of Ocean Science and Technology Societies, 1675-1679.
  2. Tadano, K., and Kawashima, K., 2010. Development of a Master-Slave System with Force-Sensing Abilities using Pneumatic Actuators for Laparoscopic Surgery. Advanced Robotics, 24(12), 1763-1783(21). https://doi.org/10.1163/016918610X522559
  3. Pierre Letier., Elvina Motard., Jean-Philippe Verchueren., 2010. EXOSTATION : Haptic Exoskeleton based control station. 2010 IEEE International Conference on Robotics and Automation, Anchorage Convention District May 3-8, 2010, Anchorage, Alaska, USA.
  4. Bouzit, M., Popescu, G., Burdea, G. and Boian, R., 2002. "The Rutgers MasterII-ND force feedback glove. in Proc. 10th Haptic Interfaces for Virtual Environments and Teleoperator Systems, Orlando, FL, 145-152.
  5. Spong, M.W. and Vidyasagar, M., 1989. Robot Dynamics and Control. John Wiley & Sons.
  6. NASA Anthropometry and Biomechanics. Reference: 276, 32-79; NASA-STD-3000 275e at: http://msis.jsc.nasa.gov/-sections/section03.htm,
  7. Jeong, Y.K., Lee, Y.S., Kim, K.H., Hong, Y.S., Park, J.O., 2001. A 7 DOF Wearable Robotic Arm Using Pneumatic Actuators. Proceedings of the 32nd ISR(International Symposium on Robotics.
  8. Schilling robotics, 2010. at: http://www.schilling.com/
  9. Kraft at: http://krafttelerobotics.com/