http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
힘 반향 가상원격조작 시스템을 이용한 가상 물체 탐색에 관한 연구
권혁조,김기호,오재윤,Gwon, Hyeok-Jo,Kim, Gi-Ho,O, Jae-Yun 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.5
This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.
비젼시스템을 이용한 탄성 매니플레이터 모델 개발 및 끝지점 위치 제어에 관한 연구
권혁조,오재윤 전북대학교 공업기술연구소 1998 工學硏究 Vol.29 No.-
This paper studies an end point position control of a flexible manipulator. The flexible manipulator is modeled as a time invariant linear 7th order ARMAX (AutoRegressive Moving Average with eXternal input) model using system identification which does not use any structural informations (end mass, link length, physical properties, moment of inertia etc.). The identified model represents the transfer function between control input(voltage) and end point angular position response(degree) of the flexible manipulator. The control algorithm is developed using PID control technique to show the efficiency of system identification modeling method. End point angular position feedback to the controller is achieved by vision system in real time. The simulation and experimental results show that the identified model is being closely approximated to the real flexible manipulator. And the experimental results show no steady state error, fast settling time and very small residual vibration.