• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1512-1515
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• 1997

One of the advantages of master-slave teleoperation is scaling concept such as position scaling, force scaling Meanuhile, lots of quantization effects are generated from position and force sensors in the master and slave manipulator. In this paper, to show the output error caused by the quantizaion effects from the position sensor and position scaling factor, simulation is done for free motion without contact in slave side. Transfer functiion model in which the quantization effect is assumed to be a disturbance input to the system is derived. Model shows that Jacobian, scaling factors, and controller affect the output by quantization effects form esnsors. One dof master and slave are used for simulation. In our study, the higher sensor resolution decreases the output error form quantization. Scaling factors can amplify the quantizatiion effects form the sensors in master and slave manipulators.

• Proceedings of the KIPE Conference
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• 2016.07a
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• pp.479-480
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• 2016

This paper introduces a master and slave control algorithm for parallel operation of UPS system. If each module of UPS system control the output voltage and filter inductor current in parallel operation, it occur unbalanced output power each module. To operate UPS system parallel, it need a algorithm that control output power of modules. A master and slave control algorithm is helpful to balance output power of modules by controlling output current. The effect of a master and slave control algorithm is proved by simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.3-171
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• 2001

The master/slave-combined system has a simplified and miniaturized structure formed by combining the master and slave that are the teleoperation system. In a certain situation, the operator may want to feel the magnified/reduced admittance of the real environments. Or he may want to feel the specific predefined admittance of the virtual environments. This paper presents a force feedback control structure for the master/slave-combined system. Through the proposed control structure, the operator can feel the predefined admittance of the virtual environments in case of free motion, and the magnified/reduced admittance of real environments in case of contact situation. It is discussed how the elements of the admittance effect ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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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 ...

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1521-1527
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• 2013

This study proposes a wearable master device that can measure the joint stiffness and the angular displacement of a human operator to enhance the adapting capability of a slave system. A lightweight inertial sensor and the exoskeleton mechanism of the master device can make an operator feel comfortable, and artificial pneumatic muscles having a working principle similar to that of human muscles improve the performance of the slave device on emulating what a human operator does. Experimental results revealed that the proposed master/slave system based on the muscle stiffness sensor yielded uniform tracking performance compared with a conventional position-feedback controller when the payload applied to the slave system changed.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2514-2518
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• 2003

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.788-794
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• 2002

To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon's experience and Judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can directly control the motion and velocity of a surgical robot. The master/slave-combined robot is controlled to display a specific admittance for a surgeon's force to the surgical robot velocity. To prevent the over-carving of a femur, virtual hard wall is displayed on the surgical boundary. To evaluate the proposed control method of the master/slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.48-48
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• 2000

We developed a wireless communication system for multiple instrumentation system. The developed system has a function of remote instrumentation and PLC(Programmable Logic Controller) control. The system consists of CC(Control and Communication) protocol, wireless media access and physical media system. For multiple wireless communication, we propose a hub polling protocol based on master-slave control concept. To show the validity of the developed system, several experiments are illustrated.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.