한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)

  • 제18권3호
  • /
  • Pages.150-156
  • /
  • 2015
  • /
  • 1226-833X(pISSN)
  • /
  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
권호 표지
DOI QR코드

DOI QR Code

극한환경작업을 위한 산업용 로봇의 원격제어기술에 관한 연구

A Study on Teleoperating Control Technology of the Industrial Robot Under the Limit Environment

  • 투고 : 2015.06.24
  • 심사 : 2015.07.28
  • 발행 : 2015.08.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, it was proposed a new technology to improve the performance of the remote control in virtual reality applications. The operator must know the information of surroundings of the robot, collision possibility of the equipment, and force feedback of the manipulator. The time delay problem occurs in the tele-operating and it causes vibration and expressive power of the manipulator owing to bidirectional force feedback. We presented a new control method to control of the teleoperating system based on serial bus. The reliability is evaluated by simulation.

키워드

참고문헌

  1. Grigore C. Burdea, "Force and touch feedback for virtual reality". A wiley-Interscience Publication
  2. Xinxing Tang and Hironao Yamada, "Haptic Interaction in Tele-operation Control System of Construction Robot Based on Virtual Reality," in Proceedings of the IEEE International Conference on Mechatronics and Automation, Changchun, China, 2009.
  3. Ming Ouhyoung, "A low-cost force feedback joystick and its use in PC video games". IEEE Transactions on Consumer Electronics. Vol.41. No 3
  4. S. Lee, G. J. Kim, G. S. Sukhatme and C. M. Park, "Effects of Haptic Feedback on Telepresence and Navigational Performance," in Proc. of Intl. Conference on Artificial Telexistence, Seoul, South Korea, 2004.
  5. 류제하, 김제하, 서창훈, 임요안, 김종필, "햅틱 제어 기술 동향," 대한기계학회논문집 A권 pp. 283-295, 2009.
  6. Kee-Hoon Kim, W.K. Chung, and Y. Youm, "On the Design Method of a Haptic Interface Controller with Virtual Coupling," Proc. the International Conference on Control, Automation and Systems, pp. 71-74, 2001.
  7. Kee-Hoon Kim, W.K. Chung, and Y. Youm, "On the Design Method of a Haptic Interface Controller with Virtual Coupling," Proc. the International Conference on Control, Automation and Systems, pp. 71-74, 2001.
  8. K. Hashtrudi-Zaad and S.E. Salcudean, "Analysis of Control Architectures for Teleoperation Systems with Impedance/ Admittance Master and Slave Manipulators," The International Journal of Robotics Research, Vol. 20, No. 6, pp. 19-445, 2001.