힘 측정 그리퍼를 갖는 단방향 원격제어 시스템 구축Implementation of a Unilateral Teleoperation System with Force Sensing Gripper

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dc.contributor.author강부원-
dc.contributor.author유재형-
dc.contributor.author왕혁-
dc.contributor.author이두용-
dc.date.accessioned2013-03-29T08:29:05Z-
dc.date.available2013-03-29T08:29:05Z-
dc.date.created2012-06-28-
dc.date.issued2012-04-05-
dc.identifier.citation2012 제27회 ICROS학술대회, v., no., pp.353 - 354-
dc.identifier.urihttp://hdl.handle.net/10203/169405-
dc.description.abstractThis 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.-
dc.languageKOR-
dc.publisherICROS-
dc.title힘 측정 그리퍼를 갖는 단방향 원격제어 시스템 구축-
dc.title.alternativeImplementation of a Unilateral Teleoperation System with Force Sensing Gripper-
dc.typeConference-
dc.type.rimsCONF-
dc.citation.beginningpage353-
dc.citation.endingpage354-
dc.citation.publicationname2012 제27회 ICROS학술대회-
dc.identifier.conferencecountrySouth Korea-
dc.contributor.localauthor이두용-
dc.contributor.nonIdAuthor강부원-
dc.contributor.nonIdAuthor유재형-
dc.contributor.nonIdAuthor왕혁-
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ME-Conference Papers(학술회의논문)
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