• Journal of Ocean Engineering and Technology
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• v.26 no.6
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

• Proceedings of the KIPE Conference
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• 2016.07a
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• pp.479-480
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• 2016

This paper introduces a master and slave control algorithm for parallel operation of UPS system. If each module of UPS system control the output voltage and filter inductor current in parallel operation, it occur unbalanced output power each module. To operate UPS system parallel, it need a algorithm that control output power of modules. A master and slave control algorithm is helpful to balance output power of modules by controlling output current. The effect of a master and slave control algorithm is proved by simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.04a
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• pp.390-394
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• 1994

In many cases, tasks are unpredictable and therefore not doable by special-purpose or pro-programble robots. So master/slave type robot hands which combine human perceptions with conventional robot hands are required as robot end effector. These also can be applied to hazardous worksites such as outer space, deep sea and nuclear power plant. In this study, master/slave type robot fingers with 3 joints each are designed and constructed. To control force accurately, TDT(tension difference type) torque sensors are constructed and attached toeachjoints of slave finger and new force reflecting control algorithm is suggested. Finally, experimental results show that the new control algorithm can be successfully applied.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.290-294
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• 1995

In master-slave teleoperation system, time delay may be a critical problem because a task is performed over a distance. Even if the system is stable without time delay, time delay can make the system unstable. In this paper a new control scheme applicable to the system with time delay would be proposed,which is based on the conventional position-position feedback type controller. The stability of this control system is proved using scattering theory, and is compared with the conventional ones. By performing the simulation of a one-d.o.f master-slave system, the validity of the proposed algorithm is verified.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.10
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• pp.1043-1052
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• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.132-135
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• 2000

The development of a robot system being able to work instead of human in the hazardous environment have been conducted for many year. In this study, the new design of controllers for the Master-Slave system is discussed. The Master-Slave system, force, velocity and torque signals are communicated between a master and a slave system. the conventional requires the enhancement of characteristics of tactility for minute force, precision signals and mechanical abrasion of loader. It is possible b controlling the viscosity of ERF(Electro-rheological fluid) since it varies with the electric field. Design of controller as well comparison between numerical simulation and experiments as will be presented. Futhermore, current methodology is also applicable to design of tele-surgery

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.3-6
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• 2004

최근 반도체 물류자동화 시스템 또는 발전소, 제철소와 같은 대단위 프로세스 자동화 시스템등에서 센서 및 계측 단말기기로부터의 계측 데이터를 산업용 Ethernet/IP 또는 블루투스와 같은 상위네트워크를 통해 원격지에서 제어계측 할 수 있도록 하기 위한 필드버스 기반의 산업용 유무선 계측 시스템 기술의 연구가 활발히 진행되고 있다. 그러나 Ethernet/IP라는 산업용 프로포콜 기반이 상용화될 경우 웹 환경에서 시스템에 독립적인 Master/slave간 지능적 모니터링 시스템의 개발은 매우 필요하다. 따라서 본 논문에서는 시스템 독립적으로 Master/slave 네트워크 모니터링 소프트웨어 및 통합 운영프로그램 개발하여 실시간으로 모니터링 할 수 있는 시스템을 개발하여 사용자들이 쉽게 사용할 수 있도록 하였다. 본 논문에서 구현한 환경은 윈도우 기반의 Java를 이용하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.140.4-140
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• 2001

This paper presents the duplex controller operated as master slave for Self Excited Static Type excitation system and the results of operation for duplex digital excitation system. Software is made up duplex multi-tasking control algorithm which is based on VxWorks(real-time OS), preprocessing algorithm for input-output signal, BSP & Device Driver for interfacing hardware and software, and OIS(Operator Interface Station) program, HMI S/W. Master controller and slave controller intercommunicate dominant data to minimize bump when controller switchover from master to slave occurs. Communication between master controller and slave controller is duplicated and communication between OIS and controller is duplicated. Hardware is made up VMEBUS based controller which is designed with PPC & I/O board ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.3-171
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• 2001

The master/slave-combined system has a simplified and miniaturized structure formed by combining the master and slave that are the teleoperation system. In a certain situation, the operator may want to feel the magnified/reduced admittance of the real environments. Or he may want to feel the specific predefined admittance of the virtual environments. This paper presents a force feedback control structure for the master/slave-combined system. Through the proposed control structure, the operator can feel the predefined admittance of the virtual environments in case of free motion, and the magnified/reduced admittance of real environments in case of contact situation. It is discussed how the elements of the admittance effect ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.743-746
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• 1997

The Master-Slave manipulator is the generally used remote handling equipment in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual workcell is implemented in the graphical environment which is the same as the real environment. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.