제어로봇시스템학회:학술대회논문집
- 1997.10a
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- Pages.1708-1713
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- 1997
On the Development of a Testbed for Force-Teflecting Teleoperation
힘 반향 원격제어 모의시험기 개발에 관한 연구
Abstract
In teleoperation of a manipulator, kinesthetic feedback can take an essential role in the sense that it provides an operator with more realistic information. In this paper, in order to implement the concept of kinesthetic feedback, force mapping algorithms based on screw theory have been presented. In the development of such algorithms, the virtual environment has been modeled usign a spring and dampers, and the forces caused by hitting the joint limits of a conrtolled manipulator were considered. Finally, some experimental results of force mapping algorithm have been presented.
Keywords
- stewart platform;
- a force reflecting hand controller;
- a force mapping;
- a kinesthetic feedback;
- a teleoperation