• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3054-3056
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• 1999

There have been numerous risks for excavator operator in working space. To overcome these riske, many researchers have been studied automation of excavator system. In these studies, excavator system is introduced by many researchers based on master-slave force feedback system. In this paper, a remote manipulation excavator is introduced based on force feedback. The proposed remote manipulation excavator system can give a feeling that the operator maneuvers the object directly, resulting in improved reality and efficiency. To demonstrate its performance, experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 심포지엄 논문집 정보 및 제어부문
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• pp.253-254
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• 2008

본 논문은 네트워크를 통해서 시스템을 원격제어하기 위한 연구이다. 우선 이 원격제어 시스템은 AP와 무선랜을 이용하여 독립 무선 네트워크를 구축하였고 이동로봇의 주변 환경을 레이저 센서와 스테레오 카메라를 이용하여 정보를 전송한다. 스테레오 카메라를 통해 전송된 영상 정보는 HMD(Head Mounted Display)를 통하여 볼 수 있다. HMD의 회전 각도는 펜틸트에 전송되어 HMD가 회전한 만큼 펜틸트도 회전하여 이동로봇의 주변환경 영상정보를 얻을 수 있는 방법을 제안하였다.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.44.1-44
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• 2001

This paper discusses the interacting mobile robots for tele-operation system using the world wide web. In multi-agent and web-based teleoperation environment the problem of communication delay must be solved for the efficient and robust control of the system. The standard graphic user interface(GUI)is implemented using Java Programing language. The web browser is used to integrate the virtual environment and the standard GUI(Java applet) in a single user interface. Users can access a dedicated WWWserver and download the user interface. Reinforcement learning is applied to indirect control in order to autonomously operate without the need of human intervention. Java application has been developed to communicate and control multi robots using WWW. The effectiveness of our multi robots system is verified by simulation and experiments ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.171.3-171
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• 2001

The master/slave-combined system has a simplified and miniaturized structure formed by combining the master and slave that are the teleoperation system. In a certain situation, the operator may want to feel the magnified/reduced admittance of the real environments. Or he may want to feel the specific predefined admittance of the virtual environments. This paper presents a force feedback control structure for the master/slave-combined system. Through the proposed control structure, the operator can feel the predefined admittance of the virtual environments in case of free motion, and the magnified/reduced admittance of real environments in case of contact situation. It is discussed how the elements of the admittance effect ...

• 대한인간공학회지
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• 제7권1호
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• pp.31-37
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• 1988

This paper designs, in the teleoperation task, the world coordinate system by the functional analysis of each of the robot joint so that the human operator performs easily the task. Also, it constructs the heuristic rules of the equal motion line coordinates for the position and the posture control of the robot within the knowledge base so that the robot hand reaches-possibly in any position of the robot's work space. As shown in the result of the experiments. the coordinate reading is easy because the work station is displayed to the high resolution by using the superimposer of the motion analysing computer system. Also. the task burden of the human operator reduces and the error recovery time reduces because the coordinates of the object is obtained just by touch using the digitizer.

• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.434-441
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• 2004

In this paper, an exoskeleton-type motion capturing system is designed and implemented. The device is designed to have 12 degree-of-freedom entirely to represent human arm motions. Forward and inverse kinematics of the device are analyzed to make sure of its singular positions. With the designed model parameters, simulation studies are conducted to verify that the designed motion capturing system is effective to represent human motions within the workspace. As a counterpart of the exoskeleton system, a mobile robot is built to follow human motion restrictively. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.117-119
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• 2004

In order to successfully exploit underwater resources, the first step would be a marine environmental research and exploration on the seafloor. Traditionally one sets up a long-term underwater experimental unit on the seafloor and retrieves the unit later after a certain period time. Essential to these applications is the reliable teleoperation and telemetering of the unit. This study presents ultrasonic-wave remote control system and an underwater sound recognition algorithm that can identify the sound signal without the influence of disturbances due to underwater environmental changes. The proposed method provides a means suitable for units which require low power dissipation and long-time underwater operation. We demonstrate its ability of securing stability and fast sound recognition through experimental methods.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.158-160
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• 2005

In order to successfully exploit underwater resources, the first step would be a marine environmental research and exploration on the seafloor. Traditionally one sets up a long-term underwater experimental unit on the seafloor and retrieves the unit later after a certain period time. Essential to these applications is the reliable teleoperation and telemetering of the unit. In our proposed ultrasonic-wave remote control system and an underwater sound recognition algorithm that can identify the sound signal without the influence of disturbances due to underwater environmental changes. The proposed method provides a means suitable for units which require low power dissipation and long-time underwater operation. We demonstrate its ability of securing stability and fast sound recognition through experimental methods.