• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.425-425
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• 2000

The heavy duty power manipulate generally has high ratio gear reducers at its joints. When it is used as a slave manipulator in the teleoperation system, therefore, the control input saturates frequently and its tracking performance and stability ate also likely to be deteriorated. This paper proposes a force reflecting control scheme for the manipulator with control input saturation. A series of experiments are shown to give excellent tracking performance with force reflection regardless of control input saturation.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.333-335
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• 2006

This paper presents a force-reflecting teleoperation scheme with time delay. In reciprocal systems, to improve the stability and performance of the tleleoperation system, the network provides a wide bandwidth, no congestion. However, as use of Internet increases, congestion situation of network increased and transmission time and packet loss increased accordingly. This can make system unstable at remote control. In this paper, we present a passive control scheme for a force reflecting bilateral teleoperation system via the Internet and we investigated how a varying time delay affects the stability of a teleoperation system. A new approach based on a passive control scheme was designed for the system. The simulation results and the tracking performance of the implemented system are presented in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.824-828
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• 2003

This paper explains problems of force-reflecting teleoperation grinding work and proposes some methods to solve those. For stable contact between robot tool(grindstone) and contact surface the mechanical impedance force control is used. The sliding phenomenon of grindstone has been appeared at the contact surface during the grinding work. The sliding problems caused by friction and rotation of grindstone are eliminated by using tangential direction sliding compensation control. The rotation force of grindstone makes the tool move to tangential direction along the surface suddenly even though an operator pushes the tool only in normal direction to the surface. Normal direction force control is applied for grinder not to roll and fracture on the grinding surface. Vibration problem of grindstone is decreased by second order low-pass filter. Therefore we can precise grinding work at the grinding surface and feel the reality

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.157-160
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• 2002

When the teleoperation system has a signal transmission time delay between slave system and control system, the position tracking performance of the slave system and system stability are likely to be deteriorated. This paper proposes a force reflecting position control scheme for teleoperation system with signal transmission time delay. The proposed scheme not only satisfy the system internal stability but also improves the position tracking performance with disturbance rejection capability. The simulation results show that the proposed control method provides excellent performances.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1708-1713
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• 1997

In teleoperation of a manipulator, kinesthetic feedback can take an essential role in the sense that it provides an operator with more realistic information. In this paper, in order to implement the concept of kinesthetic feedback, force mapping algorithms based on screw theory have been presented. In the development of such algorithms, the virtual environment has been modeled usign a spring and dampers, and the forces caused by hitting the joint limits of a conrtolled manipulator were considered. Finally, some experimental results of force mapping algorithm have been presented.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1545-1548
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• 1997

A Force-refecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. This thesis presents the desgn and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The goal of this thesis is to construct a superior hand controller that can provide large workspace and good force-reflecting ability. The forward kinematics of the fivebar paprallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to comput the Jacobin. To analyze the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The force-reflecting hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.1
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• pp.63-71
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• 2000

원격조정 시스템에서 힘정보는 중요하다. 그러나 특수 응용 분야에 적합한 크기와 측정의 정확성을 가지는 힘 센서의 적용은 매우 어렵다. 더욱이 힘 정보의 전송으로 인한 시간지연으로 시스템은 불안정 되기 쉽다. 본 논문은 가상환경을 이용한 원격조정 시스템을 제안하였다. 시스템은 그래픽 시뮬레이션 처리부, 슬레이브 제어부 그리고 역감 제시부로 구성되어진다. 슬레이브 암이 작업물체와 접촉작업을 할 때 역감은 가상환경에서 계산되어지므로 힘 선세와 시간지연으로 발생되는 문제점을 해결 할 수 있다. 제안된 시스템으로 접촉작업에 대한 힘 제시 원격조정을 수행하였고, 실험결과를 통해서 안정된 접촉작업을 확인하였다.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.45-51
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• 2009

In this paper, a transparency analysis and network-adaptive transport scheme are proposed in order to improve transparency of EBA-based force-reflecting teleoperation. EBA guarantees stability of force-reflecting teleoperation over network delay and loss but has limitation that it cannot overcome transparency deterioration of haptic interactions. The proposed transparency analysis quantifies the force feedback distortion caused by network delay and loss. Based on the analysis, the proposed haptic data synchronization and transmission rate control schemes adapt synchronization delay and transmission rate to current network state for more transparent haptic interaction. Through Matlab/Simulink simulations, it is confirmed that the proposed analysis provides an acceptable quantification method about haptic interaction quality and that the proposed haptic data transport scheme effectively improves haptic interaction quality with respect to network delays and losses.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.132.5-132
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• 2001

In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system is hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.65.6-65
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• 2002

In teleoperation robotic system such as hydraulically actuated robotic excavator for dangerous area, the maneuverability and convenience is the most important part. Particularly the force information is important in dealing with digging and leveling operation in the tole-operated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper proposes a new force reflecting joystick using pneumatic motor and a new algorithm for selecting force-reflecting gain in a velocity-force type bi lateral teleoperation system. The master system is electrical joystick with the same structure of that of real excavator. Particularly Pneumatic motor is used newly in...