수중로봇팔 ORION의 작업공간 구동형 마스터 시스템 개발

Abstract

paper describes a new workspace-operated master system developed to enhance the performance of a tele-operated underwater manipulator system named ORION. The new master system is designed to be used instead 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 new master system is composed of a joystick input device and a computer system. The operator can command the velocity of end-effector of slave manipulator in workspace while only joint position commands are available in the original master system. The kinematics and inverse kinematics of ORION manipulator are solved in the master computer and resulting joint angle commands are transferred to the slave controller via RS-485 serial communication. When differential inverse kinematics is solved, the task priority is considered to enlarge the available workspace of manipulators under the constraint of joint limit. The boundary of numerical error of developed master system is investigated by numerical simulation. And the boundary of measured error is also investigated when developed master system operates with slave manipulator of ORION system.