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J. Ocean Eng. Technol. > Volume 26(6); 2012 > Article
J. Ocean Eng. Technol. 2012;26(6):59-65.
DOI: https://doi.org/10.5574/KSOE.2012.26.6.059   
Study of 7 Degree of Freedom Desktop Master Arm
Choi Hyeungsik,Lee Dong-Jun,Ha Kyung-Nam
Korea Maritime University Intelligent robot and Automation Laboratory,Korea Maritime University Intelligent robot and Automation Laboratory,Korea Institute of Industrial Technology Marine Robot Center
7자유도 탁상식 마스터 암의 설계 연구
최형식,이동준,하경남
한국해양대학교 기계시스템공학과,한국해양대학교 기계시스템공학과,한국생산기술연구원 동남권지역본부 해양로봇센터
Key Words: Master arm, Crabster robot, Force-feedback, Electromagnet
핵심용어: 마스터 암, 크랩스터로봇, 힘궤환, 전자석
Abstract
In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.


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