• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.106-109
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• 2000

The virtual reality - haptic device is developed for the purpose used in the work that human cannot approach and that need elaborate exercises. To render haptic, the total system is constituted master, haptic device, and slave, remote manipulator. Human operates the remote manipulator. Human operates the remote manipulator relying on the hapti devices and stereo graphic. And then the force and scene of the remote manipulator is fed-back from each haptic devices and virtual devices. The feedback information gets system gain exactly. The system gain provides the most exact haptic and virtual devices. The feedback information gets system gain exactly. The system gain provides the most exact haptic and scene to human by the location, the graphic rendering and the haptic rendering algorithm on real-time. In this research, 3D haptic device is developed for common usage and make human feel the haptic when human contacts virtual object rendered by computer graphic. The haptic device is good for tracing location and producing devices because of the row structure. Also, openGL and Visual Basic is utilized to the algorithms for haptic rendering. The haptic device of this research makes the interface possible not only with virtual reality but also with the real remote manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.540-540
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• 2000

This paper explores design and control methods of a surgical robot for total hip replacement surgery which can be easily maneuvered by a surgeon Like an advanced surgical tool. The 3-DOF in-parallel surgical robot is fixed directly onto patient's femur by the bone clamp during surgery. With the master/slave combined surgical robot, the surgeon can directly control the motion of the surgical robot with surgeon's experience and judgment during operation. For the easiness of operation, the master/slave combined robot is controlled using admittance control paradigm. And for the precise operation, the robot motion is restricted at the surgical boundary using virtual hard wall display.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1354-1358
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• 2003

The process equipment for handling high level radioactive materials like spent fuels is operated in a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired optimally by a remotely operated manipulator. The master-slave manipulators(MSM) are widely used as a remote handling device in the hot cell. The equipment in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. But, because of the complexity in the hot cell, there would be some parts of the equipment that are not reached by the MSM. In this study, the maintenance process for these parts of the equipment is developed using virtual prototyping technology. To analyze the workspace of the maintenance device in the hot cell and to develop the maintenance processes for the process equipment, the virtual mock-up of the hot cell for the spent fuel handling process is implemented using IGRIP. For the implementation of the virtual mock-up, the parts of the equipment and maintenance devices such as the MSM and servo manipulator are modeled and assembled in 3-D graphics, and the appropriate kinematics are assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment, which is the same as the real environment. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. Also, for the dedicated maintenance operation, the analyses for the detailed area of the end effectors in accordance with the slave manipulator's position and orientation are carried out. The parts of the equipment that are located outside of the MSM's workspace are specified and the maintenance process of the parts using the servo manipulator that is mounted in the hot cell is proposed. To monitor the process in the hot cell remotely, the virtual display system by a virtual camera in the virtual work cell is also proposed. And the graphic simulation using a virtual mock-up is performed to verify the proposed maintenance process. The maintenance process proposed in this study can be effectively used in the real hot cell operation and the implemented virtual mock-up can be used for analyzing the various hot cell operations and enhancing the reliability and safety of the spent fuel management.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• Journal of Drive and Control
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• v.17 no.3
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.241-245
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• 2004

This paper shows the development of remote control system for manipulators which consists of PHANToM Device as a master, Samsung FARA robot as a slave and TCP/IP based LAN for their Communication. This work includes the motion mapping between the master and the slave, Generation of virtual viscosity force preventing operator s unwilled action and 3D remote control simulators for the stable operation of the remote control system, etc. The remote control implementation has been performed and the results shows that the developed system can allow the operator to effectively control the manipulator.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1171-1172
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• 2008

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.746-753
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• 2008

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.263-266
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• 2003

In this paper, we have proposed a realization method of tactile sense of virtual objects using multi-layer Neural Networks(NN). Inputs of the NN are position data of non-rigid objects and outputs of the NN are forces at that time and point. First, the position and forte data are measured from non-rigid objects (a sponge and a balloon) using two PHANToMS, one as a master and the other as a slave manipulator, then the data are used to train a multi-layer Neural Networks whose inputs and outputs are designed to represent tactile information. The trained Neural Networks is used to regenerate the tactile sense on the virtual objects graphically made by a computer, and one can feel a quite similar sense of touch by using the system while touching the virtual objects.