• Journal of the Korea Institute of Military Science and Technology
• /
• v.17 no.6
• /
• pp.821-827
• /
• 2014

This paper considers a distributed telemetry system using retransmission algorithm with one master telemetry and two slave telemetries. The master telemetry merges data from each slave telemetry and own measured data. If there exist some errors in data from the slave telemetry, the master telemetry requests retransmission to corresponding slave telemetry. In this paper, we propose a retransmission algorithm applied to implementing the distributed telemetry system. Simulation results demonstrate that the retransmission improves the performance of the communication between the master and slave telemetries.

• Journal of the Korean Society for Precision Engineering
• /
• v.32 no.12
• /
• pp.1055-1063
• /
• 2015

In this paper, a new master arm was developed as an input device of the remote control system for easy control of the industrial robot arm; it has a structure similar to the robot arm and is easy to wear. For control of the slave arm, related equations were derived about the joints between the master and slave arm; and thereby using them, the master arm control system was developed. Furthermore, a control simulator was developed for the convenient and accurate control of the slave arm. Experiments, about controlling the slave arm in applying the master arm, were performed to validate the developed simulator and the derived related equations.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.838-843
• /
• 1991

A telemanipulator that reflects grasping force of the slave gripper to the human operator was implemented in order for manipulation to be more delicate and safe. An industrial robot gripper was used as the slave manipulator. The master manipulator was constructed to make it easy for a human operator to direct the slave and to feel the reflected gripping force. Reflected force was generated by the servomotor of the master. The force signal and position signals of the master and the slave was used to generate driving force signal. Basically position-position type control was used. Miner force feedback is added to improve the performance of the system. Implemented system was tested by colliding two fingers of the slave manipulator, and here switching was used to archive more fast and easy manipulation.

• Proceedings of the Korean Nuclear Society Conference
• /
• 2002.05a
• /
• pp.269.2-269
• /
• 2002

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.85.5-85
• /
• 2002

The Master-Slave manipulator is generally used as a remote handling device in the hot cell, in which the high level radio-active materials such as spent fuels are handled. This study describes a workspace mapping algorithm for a kinematically dissimilar master-slave system The algorithm provides the operator to guide the slave's end effector into unreachable regions which can appear due to the mismatch of workspace between the master and slave manipulator. A spaceball was used for the universal master device, and it can detect the slight fingertip force applied on the ball and also resolve the applied force. The spaceball device was also used to move 3D images instantaneously and simultaneou...

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.386-390
• /
• 1998

A master-slave system is proposed as a teaching device for a dual arm robot. The slave robots are remotely controlled by two delta-type master arms. In order to help the operator to observe the target object from the desired position and desired direction, cameras are mounted on a specialized manipulator, Movements of two slave arms are coordinated with that of the cameras. Due to this coordinated movements, the operator needs not to care the geometrical relation between the cameras and the slave robots.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.19 no.10
• /
• pp.1043-1052
• /
• 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 Institute of Intelligent Systems Conference
• /
• 2004.04a
• /
• pp.3-6
• /
• 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.

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

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.84-84
• /
• 2000

This paper proposes a new impedance control scheme based on a variable stiffness matrix for a bilateraL teleoperation. In this scheme, stiffness matrix of the impedance model in the slave is modulated based on the distance, measured by an ultrasonic sensor, between the slave and environment. At the same time, the stiffness matrix of the master is also changed accordingly in order for the impedance parameters of the combined system to remain constant The proposed scheme is implemented on a 1-dof master/slave system to perform a simple task. In the experiments, the teleoperator with the impedance parameter modulation shows better performance than one with fixed impedance parameters, especially in reducing task execution time and in avoiding excessive external forces.