• 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.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.603-609
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• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.815-820
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• 1993

Robotic technology has been grown up conspicuously by its versatility. KAERI has been involved in one of facets of robot industry to keep abreast of rapid evolving technologies In robotic field and has launched long-term R&D plan to assure the stable nuclear energy. In this paper, the latest development status of teleoperated robot system has been presented with emphasis the configuration of overall control system with 3 dimensional graphic system that provides operators with tele-presence situation. This robot system under development, composed of master-slave arm with controller and graphic simulator, is operated by a master manipulator to enable an installation and removal operation of nozzle dam system for steam generator. Evaluation and analysis has been carried out to get optimal parameters of robot system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.132-135
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• 2000

The development of a robot system being able to work instead of human in the hazardous environment have been conducted for many year. In this study, the new design of controllers for the Master-Slave system is discussed. The Master-Slave system, force, velocity and torque signals are communicated between a master and a slave system. the conventional requires the enhancement of characteristics of tactility for minute force, precision signals and mechanical abrasion of loader. It is possible b controlling the viscosity of ERF(Electro-rheological fluid) since it varies with the electric field. Design of controller as well comparison between numerical simulation and experiments as will be presented. Futhermore, current methodology is also applicable to design of tele-surgery

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.168-171
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• 1993

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.

• 로봇학회논문지
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• 제14권1호
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• 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.

• 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.

• 로봇학회논문지
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• 제9권1호
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• pp.48-56
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• 2014

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it's usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.