드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제17권4호
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  • Pages.31-37
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  • 2020
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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재난 대응 특수목적기계의 양팔작업기 제어전략 및 검증

Control Strategy and Verification of Dual-Arm Manipulator for Disaster-Responding Special Purpose Machinery

  • Kim, Jin-Tak (Department of Robot, Korea Institute of Industrial Technology) ;
  • Park, Sang-Sin (Department of Robot, Korea Institute of Industrial Technology) ;
  • Han, Sang-Cheol (Department of Robot, Korea Institute of Industrial Technology) ;
  • Kim, Jin-Hyeon (Department of Robot, Korea Institute of Industrial Technology) ;
  • Jo, Jeong-San (Department of Robot, Korea Institute of Industrial Technology)
  • 투고 : 2020.11.02
  • 심사 : 2020.11.09
  • 발행 : 2020.12.01
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초록

We are concerned with the dual-arm manipulation for disaster-responding special-purpose machinery. This paper presents a control strategy for performing complex work in an irregular environment, the control algorithm, the hydraulic circuit, and the master devices. The occurrence of collapse accidents at disaster sites such as natural disasters and building collapses is increasing, which is emerging as a social problem. In particular, for the initial response, various tasks must be performed in an irregular environment. The Marionette algorithm for intuitive control of 'as if the operator's arm is moving' was presented as a control strategy for dual-arm manipulators with attachments and the prototype. Next, the hydraulic circuit, control system, and wearable-type master device presented to implement the Marionette algorithm were explained and verified through an experiment in which rebar-cutting, drum-lifting, and lifting a bottle with one arm and pouring the water into the bucket with the other arm were tested.

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참고문헌

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