최소자승법을 이용한 4축 다관절 작업기 제어용 마스터-슬레이브 조작기의 매핑 방법

차영택(Young Taek Cha),이연호(Yeon Ho Lee),최성준(Sung Jun Choi) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.5

마스터-슬레이브 조작 시스템을 이용한 다관절 작업기의 조작은 마스터와 슬레이브의 가동영역에 대한 매핑작업이 요구된다. 마스터 좌표로 슬레이브의 역기구학을 적용할 때, 마스터의 가동영역이 슬레이브의 가동영역 내에 존재하여야 마스터의 조작 좌표에 해당하는 슬레이브의 각 관절 값을 구할 수 있기 때문이다. 일반적으로 마스터와 슬레이브의 매핑을 위해 마스터 좌표를 스케일링 및 오프셋을 사용하여 슬레이브 가동영역 내에 두는 방법을 많이 사용하지만, 적절한 스케일링 값과 오프셋 값을 찾기 위해 다수의 시행 오차를 동반한다. 본 논문에서는 그러한 시행 오차를 줄이기 위해, 최소자승법을 사용하여, 마스터 좌표의 스케일링 값과 오프셋 값을 찾을 수 있는 방법을 제안하였으며, 4축 다관절 작업기에 적용하였다. 최종적으로 마스터-슬레이브를 통한 4축 다관절 작업기의 조작은 실시간 시뮬레이션으로 구현되어 평가되었으며, 제안된 매핑방법이 적절함을 확인하였다. Operation of a multi-axis manipulator using a master-slave control system requires mapping for working ranges of master and slave. This is because when applying the inverse kinematics of a slave for master coordinates, the masters working range must exist within the working range of the slave to obtain the value of each joint corresponding to the masters operating coordinates. Although we typically use scaling and offset for master-slave mapping to place master coordinates within the slave working range, they are accompanied by a number of trial errors to find appropriate scaling and offset values. In this paper, to reduce such trial error, we propose a method to find the scaling and offset values of master coordinates using the least square method, and it applied them to the 4-axis multi-joint manipulator. Finally, the 4-axis multi-joint manipulator via the master-slave operation system was implemented and evaluated in real-time simulation, and it was verified that the proposed mapping method is appropriate.

원격조작에 의한 작업대상물 강성과 마찰 특성의 동정

권혁조,전지명,김진옥,문일동,오재윤 전북대학교 공학연구원 ( 구 전북대학교 공업기술연구소 ) 2002 工學硏究 Vol.33 No.-

This study performs a workpiece stiffness and frictional characteristic identification experiments by teleoperation. Experiments are performed using a bilateral force feedback teleoperation system. It is composed of a master manipulator, the slave manipulator equipped with a force/torque sensor, and a real-time control system. To control the teleoperation system, a position-force controller is developed. The slave manipulator is controlled by the master manipulator's position command and the master manipulator is controlled by the force information from the slave manipulator. This study presents a method to find the slave manipulator's stiffness. And, this study presents a method to compute the workpiece stiffness based on the measured pressing force and deflection at the slave manipulator. Also, this study performs a workpiece frictional characteristic identification experiments. In the experiments, the slave manipulator rubs a workpiece with an arbitrary pressing force. While the slave manipulator rubs a workpiece, a vertical force and a frictional force are measured and the ratio of a frictional force to a vertical force is considered as a frictional characteristic.

LED 광통신을 적용한 마스터 암과 수중 매니퓰레이터의 통합 제어

오지윤(Ji-Youn Oh),전봉환(Bong-Huan Jun),최형식(Hyeung-Sik Choi),김준영(Joon-Young Kim),지대형(Dae-Hyeong Ji),손현중(Hyeon-Joong Son),조성원(Sung-Won Jo) 한국해양공학회 2016 韓國海洋工學會誌 Vol.30 No.5

This paper presents the results of a study on the control system for an underwater manipulator controlled by a master arm through LED communication. The underwater manipulator was designed to be actuated by electric motors with six degrees of freedom for operation in various underwater environments. The master arm, which can remotely control the manipulator, was designed with a structure similar to the manipulator for convenient control. An underwater LED communication system was developed to communicate between the master arm and underwater manipulator. An integrated control program was developed that included data conversion, monitoring, datalogging, and filtering. Some experiments were performed to verify the performance of the developed control system of the master arm, manipulator, and LED communication system, and the results are presented

원격 와이핑 작업을 위한 제어 기법

전지명,이승호,문일동,오재윤 전북대학교 공학연구원 ( 구 전북대학교 공업기술연구소 ) 2002 工學硏究 Vol.33 No.-

This study proposes a technique utilizing virtual information instead of real information in a teleoperated wiping operation. A teleoperation system composed of a master manipulator, a slave manipulator, and a real-time control system is used for this study. Both the master and slave manipulator have a kinematic structure effectively conveying and following the operator’s command respectively. The master manipulator uses DC servo motors to do a major role for counter balancing. A force sensor attached at the end of the slave manipulator’s end effector is used to measure a contact force. MATLAB/xPC Target is used for real-time control of the teleoperation system in Windows OS. This study proposes algorithms for generating the virtual force and the virtual velocity. They are generated as the master manipulator’s grip moves up and down, and back and forth. A force-force control technique proposing in this paper uses the virtual force as a reference input for the contact force control, and uses the virtual velocity as a reference input for control the slave manipulator’s horizontal movement. A PID controller is used as a local controller for the contact force control. In order to show the effectiveness of the proposing force-force control technique, experiments are performed on a plastic plate with two bumps.

원격제어 기반의 심혈관 중재시술 로봇 시스템을 위한 시술자 조작 시스템 개발

문영진(Youngjin Moon),김성준(Seongjoon Kim),최재순(Jaesson Choi) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12

This paper presents a master platform of tele-operation robotic system for cardiovascular interventions. The slave robot of the robotic system handles medical devices such as a guide wire, guiding catheter, stent, and etc. and master device makes input commands for the motion of the slave. Even though the motion of the medical devices currently includes only forward/backward translation and axial rolling in the slave site, the master manipulator is designed as higher degree-of–freedom (DOF) mechanism considering improvement of the devices like contact sensor-based haptic feedback or actively steerable function. The manipulator consists of a spherical mechanism that makes two-DOF rotational motions, linear actuator for vertical translation, and three-DOF planar mechanism. For matching the motion between the master and slave, the rotation of the spherical mechanism corresponds to axial rolling in the slave, vertical translation of the linear actuator does phase of master-slave connection, and planar movement of the planar mechanism does forward/backward translation. A master console platform is also designed with the master manipulator. The console has a base platform with controllers and a power, and a user interface panel is on the top of the platform. With

Dynamic Modeling and Force Analysis on Revolute Joint of Mechanical Master-Slave Manipulator using RecurDyn

Moon-Woo Park,Sang-Seok Lee,Dae-Chul Jang,Hyeon-Seong Kim,Pyeong-Ung Jeong 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

This paper presents a simulation result of dynamic reaction forces on the slave-arm revolute joint of the mechanical master-slave manipulator for remote handling of radioactive materials and nuclear processing. The dynamic modeling of the manipulator is established in the multi-body dynamics(MBD) simulation S/W of RecurDyn to verify the gear tooth contact force and bearing reaction forces on the revolute joint of its slave-arm on condition of the maximum handling load. For modeling the detailed parts of the revolute joints, two stages gear transmission; one bevel gear-pair and the other spur gear pair, and two support rolling bearings are defined with mechanical properties. As results of the force analysis, the reaction forces on gearing and bearings which are used to address the improvement of the joint design are shown for the manipulator.

Development of DSP-based Control System for Master-Slave Manipulation

Jong Kwang Lee,Byung Suk Park,Jungmin Yoo,Kiho Kim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10

A dual arm master-slave servo-manipulator system has been developed for use in a pyroprocess integrated demonstration facility at Korea Atomic Energy Research Institute. The slave manipulator with a reach of 1.6 m can handle a 25 kgf payload in any posture, where the gravity force of remote tools or handling equipment has a great impact on the position tracking error which produces the unnecessary force that operator does not have to feel. In this work, we developed a DSP-based remote control system and applied a time delay controller for accurate tracking control of the manipulator. Experimental results show that the time delay controller has good performance on the master-slave tracking task compared with the conventional PD controller.

PRIDE 적용을 위한 원격 매니퓰레이터와 시뮬레이터

김기호,이종광,이효직,김성현,박병석,김호동 제어로봇시스템학회 2010 제어로봇시스템학회 국내학술대회 논문집 Vol.2010 No.5

In this Paper, we present the development of a telemanipulator and simulator for use in an inert environment of an argon cell of PRIDE(PyRoprocessing Integrated inactive DEmonstration facility) at KAERI(Korea Atomic Energy Research Institute). The telemanipulator that is an electrically driven servo manipulator has dual arms of which each arm consists of a pair of master-slave manipulators. The two slave manipulators that are mounted on a bridge transporter are installed inside a cell and travel the length of the ceiling. The two master manipulators are installed outside of a cell. The motions of the operator via the master manipulator are reproduced exactly at the slave manipulator, The simulator is a virtual facility of the PRIDE. The simulator provides an efficient means for simulating verifying the conceptual design, design development, arrangements and rehearsal of the process equipment to be installed inside the cell from remote operation and maintenance viewpoint in a virtual process environment in advance before their construction. We describe the design considerations, development and application of both the telemanipulator and simulator to be used in the argon cell of the PRIDE.

Development of the Maintenance Process Based on Graphic Simulation for the Parts of the Equipment at the outside of the MSM′s Workspace in a Hot Cell

Jong-Youl Lee,Seong-Hyun Kim,Tae-Gil Song,Byung-Suk Park,Ji-Sup Yoon 한국방사성폐기물학회 2003 방사성폐기물학회지 Vol.1 No.1

사용후핵연료와 같은 고준위 방사성물질을 취급하는 핫셀 내에서 원격취급장치인 MSM의 작업영역을 벗어난 지역에 위치한 공정장치부품 유지보수공정을 개발하였다. 이를 위하여 대상 핫셀공정인 사용후핵연료 차세대관리공정에 대한 가상목업을 구축하였으며, 구축된 가상목업을 이용하여 MSM 작업영역 및 작업자 시각영역을 분석하고, 그래픽 가상목업의 충돌감지 기능을 이용한 서보 조종기의 경로계획을 수립하였다. 또한, 분석한 결과를 토대로, 서보조종기에 의한 사각지역 내 부품 유지보수 공정을 설정하였으며, 설정된 공정은 그래픽 전산모사를 통하여 검증하였다. 제안된 유지보수 공정은 실제 핫셀공정 수행시 유용하게 활용될 것이며, 그래픽 가상목업은 다양한 핫셀 공정에 대한 분석 및 작업자 훈련 시스템으로 활용하여, 작업 효율성 및 안전성 향상에 기여할 것으로 기대된다. In this study, the maintenance process by the servo manipulator has been developed for the parts of the equipment, which we unable to reach out by the Master-Slave Manipulator(MSM) in a hot cell. To do this, a virtual mock-up is implemented using the iか prototyping technology. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass have been analyzed. In addition, the path planning of the servo manipulator using the collision detection function of the virtual mock-up has been established. From these, the maintenance process for the parts of the equipment, which are located at the outside of the MSM's workspace using the servo manipulator has been proposed and verified through the graphic simulation. It is revealed that the proposed remote maintenance process of the equipment can effectively be used in the real hot cell operation. It is also believed that the implemented virtual mock-up of the hot cell can effectively be applied in analyzing the various hot cell operation and enhancing the reliability and safety in a hot cell remote handling for the spent fuel management.

DSP-based Motion Control of Master-Slave Manipulator System Developed for Use in Pyroprocess Research Facility

Jong Kwang Lee,Byung-Suk Park,Kiho Kim,Il-Je Cho 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

A bridge-transported dual-arm master-slave servo-manipulator system (BDSM) was developed for the remote manipulation at a pyroprocess research facility. The slave manipulator with a reach of 1.6 m can handle a 25 kgf payload in any posture, while the master manipulator reflects forces of up to of 5 kgf to the operator. The BDSM is a complex robotic system with 35 degrees of freedom. Therefore, accurate and reliable servo-control is the basic requirement for the BDSM to accomplish the given tasks successfully in a hot-cell environment. In this regard, all the hardware and software of a DSP-based remote control system was developed and implemented to control the BDSM. Furthermore, to achieve a good tracking performance as well as systematic gain tuning, we applied a time delay controller. The experimental results show that the time delay controller performs the master-slave tracking task well compared with the conventional PD controller.