• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.229-233
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• 2001

In this paper, we propose a remote controller for robot manipulator using local area network(LAN) and internet. To do this, we develope a server-client system as used in the network field. The client system is in any computer in remote place for the user to log-in the server and manage the remote factory. the server system is a computer which controls the manipulator and waits for a access from client. The server system consists of several control algorithms which is needed to drive the manipulator and networking system to transfer images that shows states of the work place, and to receive a Tmp data to run the manipulator. The client system consists of 3D(dimension) graphic user interface for teaching and off-line task like simulation, external hardware interface which makes it easier for the user to teach. Using this server-client system, the user who is on remote place can edit the work schedule of manipulator, then run the machine after it is transferred and monitor the results of the task.

• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.712-715
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• 1999

The goal of this paper is to provide a Graphic man-machine interface that can be used to control multiple robots simultaneously. The proposed GUI scheme gave emphasis on making multiple robots Perform the cooperative works, maintaining a given formation. It controls multiple robots in two different modes. : a group mode and a individual mode. In the group mode, a common goal position and formation are delivered to individual robots at the same time, and in the individual mode one robot is selected. o increase the efficiency of the interface, a time scheduler is provided. The experimental results are included.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.150-156
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• 2015

In this paper, it was proposed a new technology to improve the performance of the remote control in virtual reality applications. The operator must know the information of surroundings of the robot, collision possibility of the equipment, and force feedback of the manipulator. The time delay problem occurs in the tele-operating and it causes vibration and expressive power of the manipulator owing to bidirectional force feedback. We presented a new control method to control of the teleoperating system based on serial bus. The reliability is evaluated by simulation.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1823-1824
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• 2008

We propose a remote controlled robot manipulator using force feedback joystick. User can control easily 5 d.o.f robot manipulator in 3 demensional space using general joystick. A force sensor attached in developed gripper sends signal to main robot controller so as to know gripper grasp the object. The signal also sent to user through force feedback joystick. We designed a dexterous 5 d.o.f robot manipulator analysis the kinematics and inverse kinematics. The robot was simply developed using serial RC motor. As a main robot controller, we use 32bit MPU(AT91SAM7256) and micro C/OS. To show the validity of our developed robot, a several experiments were demonstrated.

• Journal of The Institute of Information and Telecommunication Facilities Engineering
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• v.10 no.2
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• pp.62-67
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• 2011

Embedded device that can support mobile computing environment has been popular recently. In this study, we propose a new robot application based on embedded device to control a mobile robot using a touch-based remote interface with information display of robot trajectory and sensors. We developed the robot application using Microsoft's.Net Compact Framework and Zigbee data communication with Windows CE kernel based embedded device. In experiment, we evaluated the feasibility and the effectiveness of the proposed system by showing a remote robot control using touch interface and a information display of the robot.

• Journal of Korea Multimedia Society
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• v.20 no.11
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• pp.1842-1848
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• 2017

Recently, user motion estimation methods using various wearable devices have been actively studied. In this paper, we propose a motion estimation system using Myo, which is one of the wearable devices, using two Myo and their dependency relations. The estimated motion is used as a command for remotely controlling the robot. Myo's Orientation and EMG signals are used for motion estimation. These two type data sets are used complementarily to increase the accuracy of motion estimation. We design and implement the system according to the proposed method and analyze the results through experiments. As a result of comparison with previous studies, the accuracy of motion estimation can be improved by about 12.3%.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.150-153
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• 2002

When a system is teleoperated in the indoor environment through the wireless LAN, we must consider the communication time delay. The time delay is random and unbounded due to the inherent characteristic and surrounding environment. As result of this, the stability and performance of the teleoperated system is degraded. In this paper, we present the adaptive control algorithm to overcome this problem by measuring time delay and allocating task corresponding to time delay dynamically. And the simple experiment is conducted to demonstrate the feasibility.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.73-79
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• 2003

Recently, the tole-robot operations to an unstructured environment have been widely researched. The human's interaction with the tole-robot system can be used to improve robot operation and performance for an unknown environment. The exact modeling based on real environment is fundamental and important process for this interaction. In this paper, we propose an extrinsic parameter calibration and data augmentation method that only uses a circular jig in the hand-eye laser virtual environment. Compared to other methods, easier estimation and overlay can be done by this algorithm. Experimental results using synthetic graphic demonstrate the usefulness of the proposed algorithm.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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• pp.95-101
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• 2020

In situations where mobile robots are operated either by autonomous systems or human operators, such as smart factories, priority-based teleoperation is crucial for the multiple operators with different priority to take over the right of the robot control without conflict. This paper proposes a priority-based teleoperation system for multiple operators to control the robots. This paper also introduces an efficient joystick-based robot control command generation algorithm for differential-drive mobile robots. The proposed system is implemented with ROS (Robot Operating System) and embedded control boards, and is applied to Pioneer 3AT mobile robot platform. The experimental results demonstrate the effectiveness of the proposed joystick control command algorithm and the priority-based control input selection.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.595-597
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• 2005

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.