• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.1171-1172
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• 2008

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave.

• 한국콘텐츠학회논문지
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• 제13권5호
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• pp.19-27
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• 2013

본 논문에서는 마스터 장치와 슬레이브 장치로 구성된 대기 전력 제어 시스템을 구현한다. 마스터 장치의 RFID 카드의 인증여부에 따라 슬레이브 장치의 릴레이를 제어한 후에 전원 공급을 차단함으로써 대기전력이 관리된다. 마스터 장치는 RFID 인터페이스 및 무선 통신 모듈을 내장하고 있고, 마스터 장치 1개에 대해 n개의 슬레이브 장치가 무선으로 연계되며 각각의 슬레이브 장치는 전력제어에 필요한 동작을 독립적으로 수행한다. 슬레이브 장치에 수동으로 전력을 on/off 할 수 있는 기능과 스위치 조작을 통해 마스터 장치에 사용자 ID를 등록하는 기능을 구현했다. 또한, 본 시스템은 무선으로 양방향 통신이 가능하고 TinyOS 상에서 실행된다. 실험 결과, 본 시스템은 마스터 장치에서 사용자 여부를 인식하고, 이에 대한 인식 정보를 무선 통신으로 슬레이브 장치에 전송함으로써, 릴레이를 제어하여 대기 전력이 차단된 것을 보여 주었다. 본 시스템을 건물이나 사무실에 설치할 경우 전력 절감을 기할 수 있다.

• 로봇학회논문지
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• 제10권3호
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• pp.139-145
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• 2015

This paper proposed a method of cooperative control of three mobile robots for carrying an object placed on a floor together. Each robot moves to the object independently from its location to a pre-designated location for grasping the object stably. After grasping the common object, the coordination among the robots has been achieved by a master-slave mode. That is, a trajectory planning has been done for the master robot and the distances form the master robot to the two slave robots have been kept constant during the carrying operation. The localization for mobile robots has been implemented using the encoder data and inverse kinematics since the whole system does not have the slippage as much as a single mobile robot. Before the carrying operation, the lifting operations are implemented using the manipulators attached on the top of the mobile robots cooperatively. The real cooperative lifting and carrying operations are implanted to show the feasibility of the master-slave mode control based on the kinematics using the mobile manipulators developed for this research.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.585-589
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• 2016

Recently, the robotic assist system for cardiovascular intervention gets continuously growing interest. The robotic cardiovascular intervention systems are largely two folds, systems for cardiac ablation procedure assist and systems for vascular intervention assist. For the systems, the clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator. Most of the current master manipulators have structure of joystick-like pivoting 2 degree of freedom (DOF) handle in the core, which is used in parallel with other sliding switches and input devices. It however is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use of robotic structure. A 6 DOF kinematic mechanism that can capture the motion control intention of the clinician in translational 3 DOF and rotational 3 DOF is proposed in this paper. Also, a master-slave motion relationship specially designed for the cardiac catheter manipulation motion is proposed and implemented in an experimental prototype. Design revision for implementation of more efficient motion and experiment in combination with an experimental slave robot system for catheter manipulation are underway.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.241-245
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• 2004

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 for their 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.357-360
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• 1997

Abstract: 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 excavation performance of a hydraulically actuated robotic system and it is very difficult to determine it appropriately since slave excavator contacts with various environments such as from soft soil to rock. To overcome this, this paper proposes a force-reflection gain selecting algorithm based on artificial neural network and fuzzy logic.

• Journal of Mechanical Science and Technology
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• 제15권1호
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• pp.1-9
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• 2001

The recent spread of scaled telemanipulation into microsurgery and the nano-world increasingly requires the identification of the possible operation region as a main system specification. A teleoperation system is a complex cascaded system since the human operator, master, slave, and communication are involved bilaterally. Hence, a small time delay inside a master and slave system can be critical to the overall system stability even without communication time delay. In this paper we derive an upper bound of the scaling product of position and force by using Llewellyns unconditional stability. This bound can be used for checking the validity of the designed bilateral controller. Time delay from the sample and hold of computer control and its effects on stability of scaled teleoperation are modeled and simulated based on the transfer function of the teleoperation system. The feasible operation region in terms of position and force scaling decreases sharply as the sampling rate decreases and time delays inside the master and slave increase.

• 전기학회논문지
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• 제60권7호
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• pp.1417-1426
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• 2011

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2483-2485
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• 2003

As design a network system that should command and response to do tasks by PLC, to make factory automation for being distributed facilities which are not guaranteed procedure, through polling method, commands are send orderly by PLC and responses are answered by each sub-unit. It make a guarantee of sequence and drive a master-slave operation in network. This method help to distribute procedure systems and make possible dividing tasks to each unit. To make this method, network protocol's format have Master or Slave ID and tasking data and Master's command or Slave unit's report. In network interpret algorithm, skip algorithm are included and it make guarantee of protecting data though network are in noise. Data that are made by this method are send to PC to transmit long-distance user by internet.

• 드라이브 ㆍ 컨트롤
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• 제17권3호
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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.