한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제32권12호
  • /
  • Pages.1055-1063
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  • 2015
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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산업용 로봇 팔 제어를 위한 마스터 암 설계 및 제어

Design and Control of the Master Arm for Control of Industrial Robot Arm

  • 지대형 (한국해양대학교 기계공학과) ;
  • 전지혜 (한국해양대학교 기계공학과) ;
  • 강현승 (한국해양대학교 기계공학과) ;
  • 최형식 (한국해양대학교 기계공학과)
  • Ji, Dae Hyeung (Department of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Jeon, Ji Hye (Department of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Kang, Hyeon Seung (Department of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Choi, Hyeung Sik (Department of Mechanical Engineering, Korea Maritime and Ocean University)
  • 투고 : 2015.01.14
  • 심사 : 2015.09.21
  • 발행 : 2015.12.01
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초록

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.

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참고문헌

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