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원격제어 수중로봇팔의 작업공간 구동형 마스터 시스템 개발Development of a Workspace-Operated Master System for a Tele-Operated Underwater Manipulator

Other Titles
Development of a Workspace-Operated Master System for a Tele-Operated Underwater Manipulator
Authors
전봉환심형원이판묵김진현정완균
Issue Date
1-11월-2005
Publisher
한국해양연구원
Keywords
ROV; underwater manipulator; master system
Citation
선박해양기술, v.1, no.40, pp 115 - 122
Pages
8
Journal Title
선박해양기술
Volume
1
Number
40
Start Page
115
End Page
122
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/1632
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.
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해양공공디지털연구본부
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