Journal of Korea Society of Industrial Information Systems (한국산업정보학회논문지)

Korea Society of Industrial Information Systems (한국산업정보학회)
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Mobile remote assistant robot using flex sensor and mecanum wheel

플렉스 센서와 메카넘 휠을 사용한 이동식 원격 작업보조 로봇

  • 윤동관 (한양대학교 전자공학과) ;
  • 박철영 (대구대학교 전자전기공학부)
  • Received : 2021.08.20
  • Accepted : 2022.01.18
  • Published : 2022.04.30
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Abstract

In this paper, a mobile robot capable of remote control is designed in consideration of the user's various work environments. Specifically, a mobile remote work robot that moves in a predetermined direction and can perform a series of tasks in synchronization with the user's hand movements, and a control system and control method for controlling the robot were proposed. It was implemented using a robot hand and a wheel for movement to assist in tasks such as transporting dangerous goods or heavy goods. In order to evaluate the performance of the developed robot, the maximum weight that can be carried by the robot hand and the movable inclination of the robot were tested, and the test evaluation results satisfied most of the targeted design specifications.

본 논문에서는 사용자의 다양한 작업 환경을 고려하여 원격 제어가 가능한 이동식 로봇을 설계한다. 구체적으로는 소정의 방향으로 이동하며, 사용자의 손동작 움직임에 동기화되어 일련의 작업을 수행할 수 있는 이동식 원격작업 로봇, 그리고 이를 제어하는 제어시스템 및 제어방법을 제안하였다. 위험물 또는 고중량 물품 운반과 같은 작업 보조를 위해 로봇 손과 이동을 위한 휠을 이용하여 구현하였다. 개발한 로봇의 성능 평가를 위하여 로봇 손의 운반 가능한 최대 중량과 로봇의 이동 가능한 경사 등을 테스트하였고, 시험 평가 결과는 목표한 대부분의 설계 사양을 만족하였다.

Keywords

Acknowledgement

이 논문은 2020학년도 대구대학교 학술연구비 지원에 의한 논문임.

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