• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2430-2432
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• 2002

We made a master hand which can be used as tool for getting grasping data. By using the data from the master hand, we analyzed grasping patterns of human hands. Based on this analyzed results, we developed an grasping algorithm for some particular hand actions. To develop the above algorithm, we programmed a 3D simulation S/W using Visual C++. And we made a slave hand to prove the validity of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1812-1815
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• 1997

This paper treats the estimation of human impedance and their application to collaboration work robot. Initially, we performa an experiment at whcich teh human becomes a slave and the robot behaves like a master having F/T sensor on its end. the human impedance expressed interms of mass, damping, and stiffness properties are estimated based on the force data measured by F/T sensor and the positiion data of the robot. To show the effectiveness of the estimated human impedance, we perform the second experiment at which the roles of the human and the robot are reversed. It is shown that the robot using the estimated human impedance follows the trajectory commanded by human very smoothly.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1523-1526
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• 1996

This paper presents a new method of force reflection in the teleoperated mobile robot control: artificial force feedback. Generally it is well known that force feedback from slave to master increases the reality with which the operator interacts with the environment. In the applications of the teleoperated mobile robot, however, such a force feedback control algorithm has rarely appeared in the literature because the contact force between the environment and the mobile robot is not available. In this paper, a method of artificially generating the feedback force for the teleoperated mobile robot is presented in order to improve the task performance. The computed artificial force feeds into the new designed joystick so as to increase the telepresence of the environment. Through simulations, we confirm the validity and effectiveness of our algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.200-208
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• 1996

This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.83-90
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• 2006

A robot manipulator is usually operated in two modes: free and constrained motion modes, depending on whether the robot is in contact with an environment or not. At the moment of contact, an impact occurs and can exert harmful effects to the robot or the object. In case of teleoperation, since a user may give an inadequately excessive velocity command to the slave due to insufficient visual information, the robot nay collide the object with an excessive speed and it possibly deteriorates the robot's performance causing vibrations and at worst, shortens its lifetime by its fracture. In this article, a new algorithm is proposed by introducing a command signal modification method on the basis of impedance control and validity of the proposed algorithm is demonstrated by performing simulations and experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.315-316
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• 2006

A new cleaning robot system for live-line tension insulator string was developed to prevent an insulator failure, which can have severe effects on national security as well as national industry and economy. The robot moves along the insulator string using the clamps installed on its two moving frames. Especially, unlike the existing cleaning robots using jets of water or water/air, the robot system adopts dry cleaning method using a rotating brush and a circular motion guide. This robot system has control architecture consisting of a master control unit and two slave control units. We confirmed its effectiveness through experiments.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.132-140
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• 1999

This paper treats the estimation of human impedance and their application to human-robot collaboration work. Initially, we perform an experiment at which the human becomes a slave and the robot behaves like a master having F/T sensor on its end. The human impedance expressed in terms of mass, damping, and stiffness properties are estimated based on the force data measured by F/T sensor and the commanded position data of the robot. To show the effectiveness of the estimated human impedance, we perform the second experiment at which the roles of the human and the robot are reversed. It is shown that the robot using the estimated human impedance follows the trajectory commanded by human very smoothly.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.815-820
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• 1993

Robotic technology has been grown up conspicuously by its versatility. KAERI has been involved in one of facets of robot industry to keep abreast of rapid evolving technologies In robotic field and has launched long-term R&D plan to assure the stable nuclear energy. In this paper, the latest development status of teleoperated robot system has been presented with emphasis the configuration of overall control system with 3 dimensional graphic system that provides operators with tele-presence situation. This robot system under development, composed of master-slave arm with controller and graphic simulator, is operated by a master manipulator to enable an installation and removal operation of nozzle dam system for steam generator. Evaluation and analysis has been carried out to get optimal parameters of robot system.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.6-50
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• 2002

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approachin...