DC Field | Value | Language |
---|---|---|
dc.contributor.author | 진병대 | ko |
dc.contributor.author | 우기영 | ko |
dc.contributor.author | 권동수 | ko |
dc.date.accessioned | 2013-03-02T22:39:07Z | - |
dc.date.available | 2013-03-02T22:39:07Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1999-04 | - |
dc.identifier.citation | 제어.로봇.시스템학회 논문지, v.5, no.3, pp.288 - 296 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | http://hdl.handle.net/10203/75917 | - |
dc.description.abstract | A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept. | - |
dc.language | Korean | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.title | A Six-Degree-of-Freedom Force-Reflecting Master Hand Controller using Fivebar Parallel Mechanism | - |
dc.title.alternative | 5각관절 병렬 구조를 이용한 6자유도 힘 반사형 마스터 콘트롤러 | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 5 | - |
dc.citation.issue | 3 | - |
dc.citation.beginningpage | 288 | - |
dc.citation.endingpage | 296 | - |
dc.citation.publicationname | 제어.로봇.시스템학회 논문지 | - |
dc.contributor.localauthor | 권동수 | - |
dc.contributor.nonIdAuthor | 진병대 | - |
dc.contributor.nonIdAuthor | 우기영 | - |
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