로봇 매니퓰레이터의 원격 제어 = Remote Contal of a Robot Manipulator

다국어 초록 (Multilingual Abstract)

Generally the environment of a nuclear power plant is inherently hazardous with irradiation and contamination. Therefore it is very dangerous for human beings to perform a task at a nuclear power plant. To overcome such difficulties, studies on an automation system using a remote controlled robot manipulator are performed extensively.
In the automation system, the control site where the control action is performed is located far from the site where the task is performed. Therefore, it is widely known that the key technology of such automation system is the remote control technology of robot manipulator.
The automation system consists of a master and slave manipulator. The degree of freedom of the slave manipulator is six. In this paper, study on the development of an automation system for hazardous tasks by using the remote control technology of robot manipulator is performed.

목차 (Table of Contents)

• Ⅰ.Introduction
• Ⅱ.System Description
• Ⅲ.Control Architecture
• Ⅳ.Conclusion
• Ⅴ.Reverences