Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Implementation of Virtual Environment System for Multi-joint Manipulator Designed for Special Purpose Equipment with Wearable Joystick used in Disaster Response

웨어러블 조작기 기반 재난·재해 특수 목적기계 다관절 작업기의 가상 환경 작업시스템 구현

  • Cha, Young Taek (Construction Equipment Technology Center, Korea Institute of Industrial Technology) ;
  • Lee, Yeon Ho (Construction Equipment Technology Center, Korea Institute of Industrial Technology) ;
  • Choi, Sung Joon (Construction Equipment Technology Center, Korea Institute of Industrial Technology)
  • Received : 2020.04.23
  • Accepted : 2020.08.19
  • Published : 2020.09.01
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Abstract

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

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