• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• 전자공학회논문지B
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• 제33B권7호
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• 조명전기설비학회논문지
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• 제20권10호
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• pp.151-157
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• 2006

생활수준이 향상 될수록 로봇이 인간의 노동을 대신하는 요소는 더욱 많아지고 있다. 하지만 대부분의 로봇이 지면에 고정된 장치산업에 국한되어 있기 때문에, 폭넓은 응용가치가 기대되는 휴먼 로봇에 대한 필요성이 강조되고 있다. 휴먼로봇은 사람을 대신하기 위한 목적으로 많은 연구가 진행되고 있지만, 관련 하드웨어의 부족으로 매우 단순하고 제한적으로 적용되고 있다. 이러한 한계를 극복하기 위해 본 연구에서는 기구학적인 메커니즘과 제어장치를 개발하여, 어깨와 팔을 3자유도 형태로 마스트 암을 구성하고, 관절변수의 특성과 엔드-이펙터 궤적실험을 통하여 사람과 유사한 동작을 재현하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.