• The Journal of the Korea Contents Association
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• v.13 no.5
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• pp.19-27
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• 2013

This paper implements the standby power control system composed of a master device and slave devices. The standby power is managed by cutting power supply after controlling the relay of a slave device based on the authentication of master device's RFID card. RFID interface and wireless communication module are embedded in a master device, and one master device is linked with many slave devices in wireless. Each slave device executes the operation needed in power control independently. We implements the function of manual power on/off system in a slave device, and the function of user ID enrollment by switch manipulation in a master device. Also this system can communicate bidirectionally in wireless and runs on TinyOS. The result of experiment shows that the user authentication is executed in a master device and this authenticated information is transmitted to a slave device in wireless, and standby power is cutted by controlling the relay of a slave device. Installing this system in a building or an office, we can expect energy saving.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.5
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• pp.22-33
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• 2000

Since the heavy-duty power manipulator generally has high ratio gear reducers at its joints, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulation systems. This paper proposes a force reflecting and compliant control scheme for the heavy-duty power telemanipulator. The main advantage of the proposed scheme is that it provides a precise position and compliant control performance for a telemanipulator with control input saturation. The stability of the proposed scheme is analyzed and a series of experiments shows its performance.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.524-527
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• 1988

Basic types of bilateral servo systems were described and practical consideration in the bilateral servo controller design was introduced. Power assistance to the operator is essential for high efficiency and accurate force reflection is necessary for dexterous manipulation. This paper shows a controller structure under development at KIMM which employs nonlinear friction compensation and memory based gravity compensation technique for efficiency and dexterity.

• The Journal of the Korea Contents Association
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• v.18 no.7
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• pp.322-329
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• 2018

Teleoperation is defined with a master device that gives control command and a slave robot in a remote site. In this field, it is common that a human operator executes and experiences teleoperation with a virtual slave, and preliminary learns dynamic characteristic and network environment from both agents. Generally, a virtual slave has neglected forward dynamics and its kinematic model has been implemented in computer graphics. This makes a operator to experience actual feelings. This paper proposes a dynamic teleoperation model in which a robotic forward model is applied. Also, a novel compensation method is proposed to reduce the numerical error problems in forward dynamics caused by low control sampling rate. Finally, its results will be compared to the teleoperation in an actual environment.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.3 no.3
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• pp.257-268
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• 2005

In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system is introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1405-1411
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• 2012

Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon-driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon-driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.

• Journal of Drive and Control
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• v.17 no.3
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1039-1046
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• 2009

In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. By using modal analysis, the system model is reduced to guarantee the detectability which is a necessity for the static output feedback control design. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.