• 대한기계학회논문집A
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• 제39권2호
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• pp.137-142
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• 2015

최근 국방 및 보안 분야 등과 같은 위험 환경에서 임무를 수행하는 로봇 팔의 원격제어와 관련된 연구가 활발히 진행되고 있다. 로봇 팔의 원격제어를 위해서는 조작장치가 필수적이므로, 본 연구에서는 스튜어트 플랫폼을 기반으로 로봇 팔을 직관적으로 제어할 수 있으며, 기존의 조작장치와 비교하여 이동성 및 휴대성이 우수한 조작장치를 개발하였다. 조작장치의 크기와 무게를 최소화하기 위하여 스튜어트 플랫폼을 기반의 기구부를 구성하였으며, 조작장치의 동작범위를 최대화하기 위하여 와이어를 적용하였다. 개발된 조작장치를 검증하기 위하여 상용 IMU와 비교실험을 수행하였으며, 실험 결과를 바탕으로 개발된 조작장치의 실용성과 신뢰성을 검증하였다.

• 한국정밀공학회지
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• 제28권9호
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• pp.1048-1053
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• 2011

Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.122-124
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• 2007

Master and slave of teleoperation control system through internet or long distance cable must keep stable. If one part becomes unstable or time delay happens in network, the all system can become unstable. Usually stability of teleoperation control system can distinguish by passivity. In this paper, we implemented bilateral teleopcration control system that load passivity controller to keep stability of system. Composed by manipulator that trillion this sricks and horizontal manufacturing that have force reflecting function are available and embodied so that control through wireless LAN may be available. And distinguished stability through an experiment and manufacturing performance.

• 로봇학회논문지
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• 제16권1호
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• pp.64-71
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• 2021

This paper describes a robotic teleoperation system to perform an accurate needle insertion into a cornea for a separation between the stromal layer and Descemet's membrane during deep anterior lamellar Keratoplasty (DALK). The system can reduce the hand tremor of a surgeon by scaling the input motion, which is the control input of the slave robot. Moreover, we utilize corneal applanation to estimate the insertion depth. The proposed system was validated by performing the layer separation using 25 porcine eyes. The average depth of needle insertion was 742 ± 39.8 ㎛ while the target insertion depth was 750 ㎛. Tremor error was reduced from 402 ± 248 ㎛ in the master device to 28.5 ± 21.0 ㎛ in the slave robot. The rate of complete success, partial success, and failure were 60, 28, and 12%, respectively. The experimental results showed that the proposed system was able to reduce the hand tremor of surgeons and perform precise needle insertion during DALK.

• 한국군사과학기술학회지
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• 제11권6호
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• pp.156-163
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• 2008

Future Combat System(FCS), such as unmanned systems that reduce the danger faced by soldiers in the field, are likely to be studied and developed. Soldiers when finding and disposing of mines risk injury and death. Several methods of safe mine retrieval are investigated. In this paper, a mine removal method, which uses a remote controlled robot to get rid of mines using a 4 channel architecture teleoperation method is used. The robot, when in contact with soil and mines, is controlled by a remote control. The feasibility of using teleoperation controlled system to remove mines is demonstrated in this paper. The Matlab-Simulink was used as a tool to simulate mine removal with robots. The force and position of the robot{slave system of 4 channel architecture) and controller(master system of 4 channel architecture) are analyzed when users handle the controller with sinusoidal force.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.2080-2082
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• 2009

본 논문은 유전자 알고리즘을 이용하여 네트워크의 시간지연을 고려한 양방향 원격제어시스템의 동기화를 제시하고 있다. 일반적으로 양방향 원격제어시스템에서는 안정성 및 투명성을 주 목표로 한다. 마스터와 슬레이브 사이에 시간지연이 존재하는 경우 시스템의 안정성을 보장하고, 유전자 알고리즘을 이용하여 동기화 제어법칙의 파라미터를 최적화하고자 한다.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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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 ...

• 제어로봇시스템학회논문지
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• 제9권8호
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• pp.600-609
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• 2003

A hybrid stabilization approach involving both Passivity Observer/passivity Controller and wave variables is addressed to stabilize the teleoperation system with time delay. To guarantee the stability of master or slave side, Passivity Observer and Passivity Controller are applied. But Passivity Observer and Passivity Controller technique cannot deal with communication delay and even small communication delay cause the system to be unstable. To cope with this problem, wave variables are additionally employed to have robustness to arbitrary delays. To show the validity of our proposed approach, several computer simulation results are illustrated.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.393-400
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• 2002

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters'variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.