• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.63-72
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• 2003

A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem. composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.286-292
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• 2010

In this paper, we investigate the relationship between the performance of telerobotic systems and the two independent time-delay on different modality, which are haptic and video. Especially, we try to find some performance improvement when the amount of delay of haptic and video is synchronized. Experiments were conducted with 10 subjects by scanning the amount of video and haptic delay independently. It is rather interesting to note that the teleoperation performance was not that sensitive to video delay, and the synchronized video and haptic delay doesn't show better performance than the case when haptic delay is lower than video delay.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권4호
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• pp.213-219
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• 2000

In this paper, a controller design method is proposed for haptic interface considering transparency and robust stability. For this, a performance index for the transparency as performance measure is defined in the points of impedance matching and the optimal solution which is minimizing the performance index is obtained by solving H2 optimal problem. In haptic interface, the modeling uncertainties can be restricted to that of haptic device. To implement the robust stabilizing haptic controller to the uncertainties of haptic device, a robust stable condition using H$\infty$ norm from small gain theorem is proposed. To verify the effectiveness of the proposed haptic controller design scheme, numerical examples and experimental results are illustrated for virtual wall consisting of stiffness and damping factor.

• 제어로봇시스템학회논문지
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• 제13권12호
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• pp.1207-1212
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• 2007

We propose a haptic interface algorithm for joystick operators working in remote control systems of unmanned vehicles. The haptic interface algorithm is implemented using a force-feedback joystick, which is equipped with low price DC motors without encoders. Generating specific amounts of forces on the joystick pole according to the distance between a remote controlled vehicle and obstacles, the haptic interface enables the operator to perceive the distance information by the sense of touch. For the case of no joystick operation or no obstacles in the working area, we propose an origin control algorithm, which positions the joystick pole at the origin. The origin control algorithm prevents the false movement of the remote vehicles and provides the operator with a realistic force resisting the joystick pole's movement. The experiment results obtained under various scenarios exemplify the validity of the proposed haptic interface algorithm and the origin control algorithm.

• 대한기계학회논문집A
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• 제41권5호
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• pp.415-420
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• 2017

과소 구동 전동의수는 가벼우며 비교적 경제적이라는 장점이 있다. 본 연구에서는 적응파지가 가능한 과소 구동 전동의수를 대상으로 경제적인 파지력 제어 시스템을 제안하였다. 근전도 신호로 구동되는 메인 케이블의 장력으로 파지력이 결정되므로 장력에 따라 사용자의 피부에 부착된 진동모터를 구동하는 촉감기반 피드백 시스템을 구성하였다. 진동 신호에 대한 사용자의 감각적 판단을 기반으로 파지력을 추정하고 제어하기 위하여 파지력과 진동 신호 간의 적절한 변환 관계를 수립하고 시제품 성능시험을 하였다. 최소한의 훈련으로 사용자들은 비교적 정확하게 파지력을 제어할 수 있었다.

• Journal of Advanced Marine Engineering and Technology
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• 제33권8호
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• pp.1196-1202
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• 2009

본 논문에서는 ROV 제어 시스템 구축을 위하여 관측기를 이용한 수중환경 추정기 설계를 다룬다. 먼저, 수중환경변화는 ROV 시스템의 입력항목에 가해지는 외부외란으로서 다루어질 수 있으며, 이러한 수중환경변화를 추정하기 위하여 외부외란에 영향을 받지 않는 PI 관측기를 제안한다. 이후 본 논문에서는 계단형 및 정현파형 수중환경변화를 가정하여 제안한 방법에 대해 시뮬레이션을 행하였으며, 그 결과 유효성을 확인하였다. 향후, 본 제안법을 ROV 시스템에 대한 햅틱제어기 설계에 이용하고자 한다.

• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1036-1043
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• 2014

In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2008년도 춘계 학술발표회 제20권1호
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• pp.957-960
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• 2008

최근 급격히 진행되고 있는 도심지 구조물의 대형화, 고층화에 따른 고층건물의 해체뿐 아니라 극한 환경의 해체현장에서 기존의 해체공법은 인력+장비에 의한 해체작업을 수행하여 언제나 작업자에 대한 치명적인 위험에 노출되어 있었다. 따라서 본 연구는 낙후된 해체산업을 첨단화시키고, 안전하고 친환경적인 해체장비 및 공법을 개발하고자 한다. 이를 위해 첫 번째, 선진외국의 해체장비인 B사(社)와 국내 무인해체장비인 M사(社)의 장비 성능을 비교분석하기 위한 장비시연회를 개최하였다. 이러한 성능의 비교분석을 토대로 해체산업에서 요구되는 기능을 도출하고, 그에 적합한 햅틱장치(haptic device) 기술, 힘반향 메카니즘(force feed-back mechanism), 환경인식용 센서퓨전(sensor fusion) 기술등 첨단기능이 융합된 무인해체 장비의 요소기술을 제안하였다. 이를 토대로 먼저, 새로운 햅틱장치 (haptic device)를 고안하였다. 두 번째로 기존의 고층건물의 기계식 해체공법을 개선한 탑다운 (Top-Down) 해체장치 및 공법을 제시하였다.

• 대한기계학회논문집A
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• 제30권11호
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• pp.1401-1407
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• 2006

In a haptic interface system with a nanoscale virtual environment (NVE) using an atomic force microscope (AFM), impedance scaling is important. In order to explicitly derive the relationship between performance and impedance scaling factors, a nanoscale virtual coupling (NSVC) concept and a selection method of scaling factors of velocity (or position) and force are introduced. An available scaling factor region is represented based on Llewellyn's absolute stability criteria and the physical limitation of the haptic device. Experiments have been performed for tele-nanomanipulation tasks such as positioning, indenting and nanolithography with available force scaling factor in the NVE.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.158-163
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• 2001

Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human interfaces, due to the scaling effects in micro/nano world. This paper presents a micro manipulation system based on the teleoperation techniques which enables the operators to manipulate the objects with ease by transferring both human motion and manipulation skill to a micromanipulator. An experimental setup consisting of a micromanipulator operated under stereo-microscope with the help of intelligent user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micro manipulation system and control strategies using teleoperation techniques for handling micro objects are presented. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques.