• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2154-2159
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• 2005

This paper presents the kinematic analysis of two robots, an exoskeleton type master robot and a human like slave robot with two arms. Two robots are designed and built to be equivalent as motion following robots. The operator wears the exoskeleton robot to generate motions, then the slave robot is required to follow after the motion of the master robot. However, different kinematic configuration yields position mismatches of the end-effectors. To synchronize motions of two robots, kinematic analysis of mapping is analyzed. The forward and inverse kinematics have been simulated and the corresponding experiments are also conducted to confirm the proposed mapping analysis.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.948-954
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• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.556-559
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• 1997

In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.243-245
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• 2007

This paper presents the implementation of teleoperation control of an omni-direction mobile robot. The master joystick robot has two degrees of freedom to control the movement of the slave mobile robot in the Cartesian space. In addition, the whole teleoperated control system is closed by the force feedback. The operator can feel the contact force as the slave robot makes contact with the environment. Experimental results show that the teleooerated control with force feedback has been successfully implemented.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.11
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• pp.171-179
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• 2003

This paper presents a rehabilitation exercise system which utilizes a 6 DOF robot as a motion generator. This system was proposed for a stroke patient or a patient who has hemiplegia. A master-slave system was designed to exercise either paralysis or abnormal limb by using normal limb motion. The study on the human body was applied to calculate the motion range of elbows and shoulders. In addition, a force-torque sensor was applied to the slave robot to estimate the rehabilitation extent of the patient. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot. the patients could exercise by themselves without assistance. In conclusion, the proposed system was verified by computer simulations and system experiment.

• The Journal of Korea Robotics Society
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• v.10 no.3
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• pp.139-145
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• 2015

This paper proposed a method of cooperative control of three mobile robots for carrying an object placed on a floor together. Each robot moves to the object independently from its location to a pre-designated location for grasping the object stably. After grasping the common object, the coordination among the robots has been achieved by a master-slave mode. That is, a trajectory planning has been done for the master robot and the distances form the master robot to the two slave robots have been kept constant during the carrying operation. The localization for mobile robots has been implemented using the encoder data and inverse kinematics since the whole system does not have the slippage as much as a single mobile robot. Before the carrying operation, the lifting operations are implemented using the manipulators attached on the top of the mobile robots cooperatively. The real cooperative lifting and carrying operations are implanted to show the feasibility of the master-slave mode control based on the kinematics using the mobile manipulators developed for this research.

• 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.