서지주요정보
원격 조작기의 양방향 힘 제어의 구현과 실험 = Imlementation and experiment of bilateral force control for a telemanipulator
서명 / 저자 원격 조작기의 양방향 힘 제어의 구현과 실험 = Imlementation and experiment of bilateral force control for a telemanipulator / 천자홍.
저자명 천자홍 ; Chun, Ja-Hong
발행사항 [대전 : 한국과학기술원, 1991].
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소장정보

등록번호

8002538

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 9194

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초록정보

In order to achieve more delicate and safe manipulation, a telemanipulator that reflects gripping force of the manipulator to the human operator was implemented, and a simple experiment was performed. A force sensor for measuring gripping force was constructed using a composite material called FSR, the resistance of which is inversely proportional to the force applied to the sensor. Master and slave manipulaters are grippers each of which contains DC motors for its actuation. Two servoing subsystems were constructed to drive these two manipulating grippers. So as to vary the control algorithm based upon operator's judgment, an interfacing circuit was designed and a control computer was used with it. Finally, the implemented system was tested in restricted condition of collision with hard contact to evaluate the peformance of the telemanipulator. High performance was obtained by switching between unilateral control in free space and bilateral control in contact condition.

서지기타정보

서지기타정보
청구기호 {MEE 9194
형태사항 [ii], 41 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 수록
저자명의 영문표기 : Ja-Hong Chun
지도교수의 한글표기 : 정명진
지도교수의 영문표기 : Myung-Jin Chung
학위논문 학위논문(석사) - 한국과학기술원 : 전기 및 전자공학과,
서지주기 참고문헌 수록
주제 Tactile sensors.
Servomechanism.
Control theory.
Robots --Control systems.
조정기. --과학기술용어시소러스
센서. --과학기술용어시소러스
서보 제어. --과학기술용어시소러스
로봇. --과학기술용어시소러스
제어. --과학기술용어시소러스
Manipulators (Mechanism)
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