• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.486-489
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• 1996

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system. In a bilateral control system, the motion of the master device is followed by the slave one, while the force applied to the slave is reflected on the master. In this paper, a fuzzy logic controllers applied to the system. Using the fuzzy logic controller, the knowledge of the system dynamics is not needed. Simulations and experimental results show the performance of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1692-1695
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• 1997

In this paper, a new control scheme for master-slave control of telerobot is proposed. The porposed method can be classified into unilater master-slave control methods in the aspect of the data flow. But the master arm in the proposed control scheme can deliver operator the similar kinesthetic sense as other bilateral force reflecting master arms do. The principle concept is that the sensed operator's force/torque is used as the reference input for a damping controller type of telerobot controller which track the operators efforts. Master arm and master controller can be implemented in a simple form, and it needs not be driven by actuators, but force sensing capability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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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 ...

• 대한임베디드공학회논문지
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• 제8권6호
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• pp.295-301
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• 2013

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.461-465
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• 1996

Position and rate control modes arc the two common modes for controlling remote manipulators with joysticks or hand controllers. Generally, position mode is easier for teleoperation than rate modes, when the manipulation work space is small or comparable to the human operator's control space. When the telemanipulator's work space is very large, human operator's control motion range must be large to allow telemanipulator's full range of motion resulting poor control resolution. One way to solve the poor resolution problem is to use indexing. However, rate mode can provide any higher degree of resolution without use of indexing. If two modes are mixed, master controller will be more convenient. The mixed mode algorithm, changes operating mode from position mode to rate mode or vise versa using fuzzy logic. The fuzzy logic algorithm, which has been designed to recognize the teleoperator's intended motion properly, provides an intelligence to a master controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2760-2762
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• 2000

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system. In a bilateral control system. the motion of the master device is followed by the save one. while the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to control input. robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2380-2382
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• 2001

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system using fuzzy sliding mode control. In a bilateral control system the motion of the master device is followed by slave the one. While the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to the input, robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed fuzzy sliding mode controller.

• 한국소음진동공학회논문집
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• 제22권3호
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• pp.284-290
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• 2012

In this research, a new type of haptic master device using electrorheological(ER) fluid for minimally invasive surgery(MIS) is devised and control performance of the proposed haptic master is evaluated. The proposed haptic master consists of ER bi-directional clutch/brake for 2 DOF rotational motion(X, Y) using gimbal structure and ER brake on the gripper for 1 DOF rotational motion (Z). Using Bingham characteristic of ER fluid and geometrical constraints, principal design variables of the haptic master are determined. Then, the generation of torque of the proposed master is experimentally evaluated as a function of applied field of voltage. A sliding mode controller which is robust to uncertainties is then designed and empirically realized. It has been demonstrated via experiment that the proposed haptic master associated with the controller can be effectively applied to MIS in real field conditions.

• 한국통신학회논문지
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• 제27권11C호
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• pp.1164-1170
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• 2002

ACE2000 MPLS시스템에서 MPLS 정합모듈은 ATM 정합모듈과 패킷 포워딩을 수행하는 HFMA(High performance Forwarding Engine and VC Merging board Assembly)모듈로 구성된다. MPLS 정합모듈에서 물리층으로 입력되는 셀은 HFMA의 송신 SAR칩(RSAR)에서 패킷으로 조립된 후 IP룩업 제어기에서 패킷 포워딩을 수행한다. 포워딩된 패킷은 ATM 계층으로 전달되기 위해 수신 SAR칩(TSAR)에서 셀로 다시 세그먼트된 후 ATM 셀 스위치로 전송하기 위해 ALMA(ATM Layer Module Assembly)로 전달된다. MPLS 정합모듈을 ATM 정합보듈로 이용할 때, ALMA는 직접 물리층 보드와 UTOPIA Leve12 인터페이스로 연결되며, 이때 ALMA는 Master Mode로 동작하게 된다 또한 MPLS 정합모듈에서 HFMA TSAR도 Master Mode로 동작하게 된다. 따라서 2개의 Master 모드 사이에서 인터페이스 역할을 수행할 수 있는 Slave 모드의 UTOPIA-L2 Controller가 요구된다. 본 논문에서는 Multi-Ports를 지원할 수 있는 UTOPIA-L2 Controller의 구조 및 셀 제어방법에 대해 고찰해본다.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.17-22
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• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.