• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.974-979
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• 1990

The system discussed in this paper is an integrated stand-alone system with the full functional capabilities required of a telerobot system. It is complete with a force-reflecting 6-DOF hand controller, driving a PUMA 560 or 762 robot, with an integrated force-torque sensing wrist sensor and servo-driven parallel jaw gripper. A mix of custom and standard electronics, distributed computers and microprocessors, with embedded and downloadable software, have been integrated into the system, giving rise to a powerful and flexible teleautonomous control system.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1545-1548
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• 1997

A Force-refecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. This thesis presents the desgn and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The goal of this thesis is to construct a superior hand controller that can provide large workspace and good force-reflecting ability. The forward kinematics of the fivebar paprallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to comput the Jacobin. To analyze the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The force-reflecting hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.