한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제30권2호
  • /
  • Pages.185-193
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  • 2013
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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원격 제어되는 볼팅 로봇을 위한 마스터암과 제어 시스템

Master Arm and Control System for Teleoperated Bolting Robot

  • 투고 : 2011.08.22
  • 심사 : 2012.11.21
  • 발행 : 2013.02.01
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초록

The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts' law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed teleoperation system can be possible to replace the operation in the cabin.

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참고문헌

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