• 지능정보연구
• /
• 제29권4호
• /
• pp.207-228
• /
• 2023

코로나 이후 기업들이 온라인 플랫폼에서 협업 또는 회의하는 방식이 일상화되고 있으며, 독자적인 온라인 실시간 시스템을 개발하여 원격 근무에 적극적으로 활용하기도 한다. 또한 회의 및 홍보를 위해 메타버스를 도입하려는 시도가 코로나 이후에도 지속적으로 이루어지고 있다. 이때문에 메타버스 환경에서 아바타 사용자 정의, 확장된 가상 환경, 지난 가상 경험 등이 참여자 만족도에 미치는 영향을 연구하는 연구가 진행 중이지만, 메타버스를 전용 작업 공간으로 활용하는 것에 대한 효과성 연구는 여전히 필요한 상황이다. 특히 업무 수행을 목적으로 하는 작업형 메타버스의 성과에 영향을 미치는 요소에 관한 연구는 아직 부족하다. 따라서 본 연구의 목적은 메타버스 작업 공간에서 개인 성과에 영향을 미치는 요소를 분석하고 결과에서 함의를 도출하는 것이다. 이를 위해 본 연구는 이론적 기반으로 Embodied Social Presence(ESP) 이론을 채택하고, 비몰입적 메타버스 작업 공간에 특화된 수정모형을 사용한다. 모형 및 가설 검증을 위해 비몰입적 메타버스 작업장에 참여한 참가자들과의 인터뷰 이후에 Gather Town 및 IFland와 같은 비몰입적 메타버스 작업장에서 참여자들을 대상으로 설문조사를 수행하였다. 그 결과 작업 참여 및 업무 참여에 미치는 영향이 메타버스 플랫폼에 따라 조절효과를 나타낸다는 것을 확인했다.

• 한국콘텐츠학회:학술대회논문집
• /
• 한국콘텐츠학회 2014년도 춘계 종합학술대회 논문집
• /
• pp.349-350
• /
• 2014

• 한국도서관정보학회:학술대회논문집
• /
• 한국도서관정보학회 1998년도 춘계워크샵자료집 (1998년도)
• /
• pp.23-33
• /
• 1998

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1545-1548
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1598-1602
• /
• 2003

The parallel-type mechanism provides more accurate and stiff motion than the serial-type mechanism. However, in case of using the haptic device, the performance of the force reflection can be deteriorated due to the singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is singularity-free in the workspace and has an improved force reflection capability. In addition, we propose a new force distribution algorithm, which can reflect force of both high and low resolution, using two sets of actuator with different size. Redundant actuators are attached to the base frame in order to minimize the inertia of the system. Moreover, a wire and gear reduction system is employed to achieve high force reflection along with soft feeling. We confirm the performance of the force reflection capability throughout simulation.

• 한국산업융합학회 논문집
• /
• 제19권4호
• /
• pp.206-215
• /
• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.

• 한국정밀공학회지
• /
• 제5권3호
• /
• pp.20-30
• /
• 1988

Using the design parameters of multi-joint manipulator, worspace of the manipulator were evaluated analytically, and the relation between such design parameters and nonlinearity of the manipulator were presented dynamically. The ratio of the volumes of a manipulator's workspace to the cube of its total link length presents a kinematic performance index [NVI] for the manipullator. It is possible to geometrically represent the manipulator dynamics with the generalized inertia ellipsoid (GIE). The relation between the GIE configuration and the characteristics of manipulator dynamics was analysed in terms of inertia and nonlinear forces (Coliolis and centrifugal forces). The nonlinearity caused by the change of the GIE configuration were affected by the difference between the major and minor axes length of the GIE. The results of this investigationare applied to the optimal design of the manipulator.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집C
• /
• pp.351-356
• /
• 2001

Recently, advanced information technologies including Internet-related technology and distributed object technology have opened new possibilities for collaborative designs. In this paper, we discuss computer supports for collaborative design in a distributed environment. The proposed system is the Internet-centric system composed of an engineering framework, collaborative virtual workspace and engineering service. It allows the distributed designers to more efficiently and collaboratively work their engineering tasks throughout the design process.

• 한국정밀공학회지
• /
• 제14권12호
• /
• pp.56-65
• /
• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• 한국정밀공학회지
• /
• 제15권12호
• /
• pp.162-168
• /
• 1998

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot's trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. This paper develops algorithms for kinematics and workspace analysis of a binary manipulator.