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Design and Control of the Master Arm for Control of Industrial Robot Arm
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 Title & Authors
Design and Control of the Master Arm for Control of Industrial Robot Arm
Ji, Dae Hyeung; Jeon, Ji Hye; Kang, Hyeon Seung; Choi, Hyeung Sik;
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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.
Teleoperation system;Master arm;Slaver arm;Teaching pendant;Path command;
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LED 광통신을 적용한 마스터 암과 수중 매니퓰레이터의 통합 제어,오지윤;전봉환;최형식;김준영;지대형;손현중;조성원;

한국해양공학회지, 2016. vol.30. 5, pp.415-425 crossref(new window)
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