힘 측정 그리퍼를 갖는 단방향 원격제어 시스템 구축

Abstract

This paper discusses implementation of a unilateral teleoperation system as provenience procedure of haptic teleoperation system. To study direct force sensing effect and indirect force estimation, we designed a slave gripper considering minimally invasive surgical tools and manufactured with force sensing resistors attached to gripping surface. In order to conduct a unilateral teleoperation properly, master and slave device should be set up with communication channels because position information about remotely operated manipulator must be received from the operator. Hence, we construct the position control architecture of a 1DOF teleoperation system and analyze position tracking performance in free motion.