• The KIPS Transactions:PartA
• /
• v.11A no.7 s.91
• /
• pp.583-589
• /
• 2004

In robotics classes, various types of materials about robotics are still needed for helping students to understand concepts easily, and it is difficult for all students to perform actual experiments because of the lack of the real robots. In order to solve these problems, this paper develops a web-based distance learning system for robotics, which consists of multimedia content sand a 3-dimensional robot simulator. Students can easily get multimedia contents and understand concepts about robots. Also, they can use a 3-dimensional robot simulator to Perform virtual robot experiments and connection experiments with real robots.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.976-979
• /
• 1996

Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. Teleoperators generally can be modeled as linear transfer function indecently including modeling uncertainty. Modeling uncertainties can make the system unstable and its performance poor. Thus I'm studying about a design framework for a bilateral controller of teleoperator systems with modeling uncertainties. In this paper, a method based on the H$_{\infty}$-optimal control and .mu.-synthesis frameworks are introduced to design a controller for the teleoperator that achieves stability and performance in the presence of the modeling uncertainties..ties.inties.

• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.2
• /
• pp.185-193
• /
• 2013

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.