• Proceedings of the IEEK Conference
• /
• 1998.10a
• /
• pp.833-836
• /
• 1998

The propose of this paper is to implement the master slave control with non-actuated Master Arm scheme by using spaceball. The spaceball is a device which can receive all 6-DOF at once and was selected because it isn't dependent to robot type or it's DOF but can be used to produce information about 3D coordiante system The proposed method's main benefit is that one who has no idea about robot structure can control the manipulator with easy. The simulation is supported with 3 modes of control to accomodate unexpected situation. The proposed implementation has probed that a non-trained user can manipulate the slave with intuition without much difficults.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.22 no.7
• /
• pp.1-6
• /
• 2008

In industrial fields, human works are being replaced by robots. However, as the use of robots is limited in the process industry where they are operated fixedly, humanoid robots with wide applications need to be developed. Currently a great deal of research is being conducted on humanoid robots with the object of replacing humans in the workplace. However, because of the lack of relevant hardware and difficulty in mechanical parts, only very simple and limited progress is being made. In an effort to overcome these limitations, the purpose of the present study is to develop a kinematical mechanism and a controller. To this end, master arms with 3 degrees-of-freedom for the shoulders and the arms were composed which were able to reproduce human-like motions by simulating the characteristics of joint variables and the trajectory of the end-effector.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.8
• /
• pp.156-164
• /
• 1998

IMS is a more advanced manufacturing system than FMS. However, IMS do not have sufficient performance for the work in the various and uncertain environment, because of the difficulty of the work and occurrence of the unexpected condition. If IMS is hard to work properly, teleoperation system can support it by using the human's consideration and judgment. The master mechanism is a basic component of the teleoperation system and the development of the useful one is important for efficiency of the work. A master mechanism of exoskeleton type can increase the work efficiency, mobility and harmony between a working robot and an operator. This paper describes an arm-harness of exoskeleton type, which is able to drive a robot according to judgment. This device is applied to a robot system for evaluating the system performance through the experiment.

• Journal of the Korean Society for Precision Engineering
• /
• v.28 no.9
• /
• pp.1048-1053
• /
• 2011

Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.9
• /
• pp.7-13
• /
• 2009

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.12
• /
• pp.148-161
• /
• 1998

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exists a trade-off between counter-balancing and dynamic performance. The concept of a composite index is introduced to simultaneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.20 no.9
• /
• pp.24-31
• /
• 2006

This study developed a human robot mast arm, which has a structure similar to the human arm, with the objective of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot mast arm in order to test its interlocking, continuous motions and reliability.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.108.5-108
• /
• 2002

Recently, the more advanced control technologies are required to deal with the fast and accurate motion in manipulators. For these requirements, many manipulator control methods have been developed such as a computed torque method. This paper proposes a design method, a two-degrees-of-freedom internal model control (TDOF IMC), of the manipulator position control based on combination of the one-degree-of-freedom internal model control (ODOF IMC) system and the disturbance observer. The proposed control scheme is implemented for the position control, which leads the slave manipulator to the desired location by the master arm. The experimental results are presented and discussed through the imp...

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.277-282
• /
• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.20 no.10
• /
• pp.151-157
• /
• 2006

As people's living standard is being improved, human works are being replaced by robots. However, because most robots are used in process industry, fixed on the ground, we need to develop human robots that have wide applications. Currently many researches are being conducted on human robots with the object of replacing human works, but because of lack of relevant hardware, such robots are being applied limitedly to very simple tasks. To overcome the limitation, the present study developed a kinematical mechanism and a controller. Based on human kinematics, the shoulders and the arms were composed of master arms with 3 degree of freedom, and we reproduced motions similar to human ones through the characteristics of joint variables and experiment on the trajectory of the end effector.