• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.343-347
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• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.

• 한국해양공학회지
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• 제26권6호
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• pp.59-65
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• 2012

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.

• 한국정밀공학회지
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• 제32권12호
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• pp.1055-1063
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• 2015

In this paper, a new master arm was developed as an input device of the remote control system for easy control of the industrial robot arm; it has a structure similar to the robot arm and is easy to wear. For control of the slave arm, related equations were derived about the joints between the master and slave arm; and thereby using them, the master arm control system was developed. Furthermore, a control simulator was developed for the convenient and accurate control of the slave arm. Experiments, about controlling the slave arm in applying the master arm, were performed to validate the developed simulator and the derived related equations.

• 감성과학
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• 제7권1호
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• pp.1-7
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• 2004

본 연구는 CAVE 시스템과 Arm-Master를 이용해 가상 제품의 프로토타이프를 평가할 때 효과가 있을지에 대한 실험적 검증을 하는 것을 목표로 하였다. 이를 위해 CAVE 시스템 상에 가상의 냉장고를 포함한 가상 주방을 모델링하였다. 실험에는 6명의 남자, 6명의 여자 피실험자들이 참여했는데, 3가지 서로 다른 형태의 냉장고 도어 그립과 가상 냉장고 도어를 열고 닫기 위한 힘의 크기 2개에 의한 조합인 6가지 실험조건에 대해 물건을 냉장고에 넣고 꺼내는 작업을 수행하도록 했다. 각 실험이 끝나면 피실험자들은 도어 개폐의 용이성, 도어 조작시의 힘과 실제 힘과의 유사성, 전반적인 현실감에 대한 평가 설문에 응답하도록 했다. 실험 결과 평균치를 기준으로 통계적으로 유의한 차이는 아니나 수직형의 도어 그립이 개폐용이성 등에서 상대적으로 좋은 평가를 받았다. 또한 힘의 크기에 있어서 피실험자들은 5N을 15N에 비해 좋은 평가를 하였다. 그러나 예상 외로 성별 간에 통계적으로 유의한 차이가 나타났는데, 이는 여자들의 경우 Arm-Master를 조작하는 데 더 큰 어려움을 겪었기 때문으로 풀이된다. 앞으로도 기술적 측면에서 Arm-Master가 더욱 개선되어야만 디자인 평가 과정에 효과적으로 사용될 수 있을 것으로 생각된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1692-1695
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• 1997

In this paper, a new control scheme for master-slave control of telerobot is proposed. The porposed method can be classified into unilater master-slave control methods in the aspect of the data flow. But the master arm in the proposed control scheme can deliver operator the similar kinesthetic sense as other bilateral force reflecting master arms do. The principle concept is that the sensed operator's force/torque is used as the reference input for a damping controller type of telerobot controller which track the operators efforts. Master arm and master controller can be implemented in a simple form, and it needs not be driven by actuators, but force sensing capability.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.17-22
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• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2003년도 춘계학술대회 논문집
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• pp.90-93
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• 2003

This study aims to validate the effectiveness of VE system with an arm-master in the evaluation of virtual prototype. A virtual kitchen with a refrigerator was presented in a CAVE system. Subjects put in and pull out virtual objects by using the arm-master. Twelve subjects participated in six experimental conditions: three types of refrigerator door grips and two reaction forces. After each trial, subjects evaluated a virtual refrigerator in terms of easiness of operation, similarity in force, presence etc. The results show the subjects preferred vertical grip than horizontal grip and light reaction force than heavy one. The VE system with the arm-master will be very helpful in the design evaluation of virtual prototypes.

• 한국해양공학회지
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• 제30권5호
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• pp.415-425
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• 2016

This paper presents the results of a study on the control system for an underwater manipulator controlled by a master arm through LED communication. The underwater manipulator was designed to be actuated by electric motors with six degrees of freedom for operation in various underwater environments. The master arm, which can remotely control the manipulator, was designed with a structure similar to the manipulator for convenient control. An underwater LED communication system was developed to communicate between the master arm and underwater manipulator. An integrated control program was developed that included data conversion, monitoring, datalogging, and filtering. Some experiments were performed to verify the performance of the developed control system of the master arm, manipulator, and LED communication system, and the results are presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.386-390
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• 1998

A master-slave system is proposed as a teaching device for a dual arm robot. The slave robots are remotely controlled by two delta-type master arms. In order to help the operator to observe the target object from the desired position and desired direction, cameras are mounted on a specialized manipulator, Movements of two slave arms are coordinated with that of the cameras. Due to this coordinated movements, the operator needs not to care the geometrical relation between the cameras and the slave robots.