서지주요정보
6자유도 원격 조종기의 힘 반사 제어 = Force reflecting control of a 6-degree-of-freedom hand controller
서명 / 저자 6자유도 원격 조종기의 힘 반사 제어 = Force reflecting control of a 6-degree-of-freedom hand controller / 문승환.
저자명 문승환 ; Mun, Seung-Hwan
발행사항 [대전 : 한국과학기술원, 1997].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8008087

소장위치/청구기호

학술문화관(문화관) 보존서고

MADE 97033

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초록정보

To execute teleoperation more effectively, the force reflecting control algorithm is essential to transfer force vividly from remote area. Also, an operator wants to move a master arm freely with less fatigue. However, the operator cannot feel well the small amount of force transferred from the slave arm due to the friction and the moment of inertia of the master arm when the operator moves the master arm. This thesis proposes an force reflecting control algorithm that compensates the friction and the moment of inertia so that the operator can feel the small force transferred from the slave arm. The performance of this algorithm has been confirmed by simulation and experiment. This algorithm has been tested with to the 6-degree-of-freedom force reflecting hand controller using 5-bar parallel mechanism that was developed in our laboratory. The effect of gravity compensation, friction compensation, inertia compensation, and the bilateral force-position servo scheme has been shown adding each compensation loop to the basic master controller step-by-step.

서지기타정보

서지기타정보
청구기호 {MADE 97033
형태사항 iv, 65 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : A, 정기구학 해석. - B, 역기구학 해석. - C, Force/Troque 사양
저자명의 영문표기 : Seung-Hwan Mun
지도교수의 한글표기 : 권동수
지도교수의 영문표기 : Dong-Soo Kwon
학위논문 학위논문(석사) - 한국과학기술원 : 자동화및설계공학과,
서지주기 참고문헌 : p. 64-65
주제 원격 조종
힘 반사
마찰 보상
5각 병렬 구조
Teleoperation
Telerobot
Force reflecting
Compensation
5-bar parallel mechanism
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