Browse > Article
http://dx.doi.org/10.7736/KSPE.2015.32.12.1055

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

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)
Publication Information
Journal of the Korean Society for Precision Engineering / v.32, no.12, 2015 , pp. 1055-1063 More about this Journal
Abstract
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.
Keywords
Teleoperation system; Master arm; Slaver arm; Teaching pendant; Path command;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Goertz, R. C., "Manipulator Systems Development at ANL," Proc. of the 12th Conference on Remote Systems Technology, pp. 117-136, 1964.
2 Vertut, J. and Coiffet, P., "Teleoperation and Robotics: Applications and Technology," Springer Netherlands, 1985.
3 Sheridan, T. B., "Telerobotics, Automation, and Human Supervisory Control," MIT Press, 1992.
4 Hollerbach, J. M., "Some Current Issues in Haptics Research," Proc. of the IEEE International Conference on Robotics and Automation, pp. 757-762, 2000.
5 Townsend, W. T. and Guertin, J. A., "Teleoperator Slave-Wam Design Methodology," Industrial Robot: an International Journal, Vol. 26, No. 3, pp. 167-177, 1999.   DOI
6 Bergamasco, M., Allotta, B., Bosio, L., Ferretti, L., Parrini, G., et al., "An Arm Exoskeleton System for Teleoperation and Virtual Environments Applications," Proc. of the IEEE on Robotics and Automation, pp. 1449-1454, 1994.
7 Lee, S. Y., Choi, D. S., Kim, M. S., Lee, C. W., and Song, J. B., "An Unified Approach to Teleoperation: Human and Robot on Intelligent," Proc. of the IEEE on Intelligent Robots and System, pp. 261-266, 1998.
8 Kim, C. H., Yi, B. J., and Han, C. S., "Development of Human Interface System for IMS: Dynamic Design of Master Robots," J. Korean Soc. Precis. Eng., Vol. 15, No. 12, pp. 148-161, 1998.
9 Jenong, Y. K., Lee, Y. S., Kim, K. H., Hong, Y. S., and Park, J. O., "A 7-DOF Wearable Robotic Arm Using Pneumatic Actuators," Proc. of the 32nd International Symposium on Robotics, Vol. 19, No. 21, pp. 388-393, 2001.
10 Bouzit, M., Burdea, G., Popescu, G., and Boian, R., "The Rutgers Master II-New Design Force-Feedback Glove," IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 2, pp. 256-263, 2002.   DOI
11 Choi, J. H., Kim, J. T., Kim, D. S., Lee, C. W., Park, J. O., et al., "Design and Characteristic Analysis of 7-DOF Hybrid Master Arm with Human Arm Kinematics," Proc. of the ASME Dynamic System and Control Division, Vol. 64, pp. 195-205, 1998.
12 Maekawa, H. and Hollerbach, J. M., "Haptic Display for Object Grasping and Manipulating in Virtual Environment," Proc. of the IEEE on Robotics and Automation, pp. 2566-2573, 1998.