• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.270-274
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• 2002

This paper presents a teleoperation system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision over the Internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a web browser and a computer connected to the communication network and so they can command the robot in a remote location through the home page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the client part for the user interface and robot control as well as the server part for communication between users and robot. The server and client systems are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore. this system offers an image compression method using JPEG concept which reduces large time delay that occurs in network during image transmission.

• 한국지능시스템학회논문지
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• 제18권6호
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• pp.746-753
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• 2008

본 논문에서는 원격 제어 시스템에 있어 조작자와 기계사이의 시각적 또는 근육지각운동의 연결에 있어서 조작자의 안정된 작업환경을 확보하기 위해 가상 모델을 이용하고, 또한 가변 시간 지연의 추정 및 예측 기법을 적용함으로써 원격조작의 실현성을 향상시키기 위한 방법을 제시하고 있다. 원격제어시스템에서의 실현성 향상을 위해 가상 모델을 설계하고, 가상의 모델이 원격의 로봇과 시간적으로 동일한 움직임을 할 수 있도록 구성함으로서 조작자는 원격의 로봇을 가상의 모델을 통해 조작할 수 있도록 시스템을 구성하였다. 시뮬레이션과 실험을 통하여 원격조작으로 가상의 모델을 제어함으로써 원격의 로봇을 제어하고, 가상의 모델을 통해 원격의 로봇의 실시간 제어에 가능성을 제시하였다.

• 제어로봇시스템학회논문지
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• 제9권3호
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• pp.196-203
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• 2003

Recent increase in accessibility to the internet makes it easy to use the internet-connected devices. The internet could allow any user can reach and command any device that is connected to the network. But these teleoperation systems using the internet connected device have several problems such as the network time delay, data loss and development cost of an application for the communication with each other. One feasible solution is to use local and external network line for the network time delay, transmission control protocol for data loss and Java language to reduce the development period and cost. In this study, web-based remote control system using Java language is newly proposed and implemented to a pneumatic servo control system to solve the time delay, data loss and development cost. We have conducted several experiments using pneumatic rodless cylinder through the internet and verified that the proposed remote control system was very effective.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.532-539
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• 2001

In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.519-519
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• 2000

Since the dynamics of the slave manipulator with high reduction ratio joints is likely to be much slower than that of the master manipulator, the control input the slave manipulator is so frequently saturated. This paper proposes a bilateral teleoperation control scheme for 2-DOF manipulators with high reduction ratio joints, which can effectively compensate the control input saturation. In the proposed scheme, the controllers of the slave manipulator are designed with an anti-windup feature and forces caused by the saturation are reflected to the operator holding the operating handle of the master manipulator. When the control input of the slave manipulator is saturated, the master manipulator moves slowly file to tile reflected forces. In this way, the position tracking performance of the slave manipulator with high reduction ratio joints can be enhanced regardless of saturation. The proposed scheme is shown to give excellent position tracking performance through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.404-407
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• 1995

Teleoperating system has been developed for several decades, and many control schemes for it have been suggested. But the implementation for real application needs very simple but effective controller. In this paper, an advanced control scheme for this purpose is suggested, which is the combination of a modified internal model controller and variable filter for force reflection. And we verify the effectiveness of the proposed scheme through the experiment. We use PUMA-560 as the slave robot, which is operated by velocity servo loop with geared motor. Both the responses of free motion and contact motion are shown.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.82.2-82
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• 2001

In this paper, when we design and implement an internet-based teleoperation control, some important points that should be considered (e.g., transmission characteristics, time delay prediction and transmission protocol are inspected and simulated. First, we will investigate data transmission characteristics at the Internet, and build a model for the transmission delay and packet loss through the characteristics of that effect. And then, we inspect how to predict transmission delay, and examine transmission protocols which are proper for the control-oriented Internet protocol. Finally, we apply it to a force-reflective teleoperation control system that consists of a six d.o.f haptic interface and a five d.o.f manipulator via the Internet.

• 대한인간공학회지
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• 제19권2호
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• pp.33-45
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• 2000

Present study was performed to compare different types of teleoperation performance measures. A modified Cooper-Harper rating scale and a distance measure were newly introduced and compared to two traditional measures, the error rate and time-to-completion. Participants performed a simulated telerobotic task with varying visual display interfaces. The results of correlation analyses revealed that the modified Cooper-Harper ratings had a close association with the error rate measure. The distance measure also appeared to be a consistent performance measure, which accounted for both the error rate and time-to-completion. A further analysis, however, showed that the effectiveness of each performance measure varied with the level of task difficulty. The results imply that the choice of performance measure should be made based on the task difficulty as well as the particular task being studied. The results revealed here also have implication for performance measures of various display and control systems including aircraft navigation displays and tactical displays.

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

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.343-347
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• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.