원격제어 수중로봇팔의 작업공간 구동형 마스터 시스템 개발

Abstract

This paper describes a new workspace-operated master system developed to enhance the functionality of a tele-operated underwater manipulator system. The new master system can be used as an alternative of the original master system when the mission of manipulator needs precise position or orientation of end-effector with respect to workspace coordinate system. The hardware, software and kinematic algorithm used for the new master system are presented in this paper. To evaluate the performance of position control by the developed system, the boundary of numerical position error and boundary of measured error are investigated when developed master system operates with slave manipulator system.