Stewart platform-based master system for tele-operation of a robot arm

Sang Duck Lee; Hong Sun Yu; Kuk Hyun Ahn; Jae-Bok Song; Jong Won Kim; Jae Kwan Ryu

doi:10.3795/KSME-A.2015.39.2.137

Stewart platform-based master system for tele-operation of a robot arm

Sang Duck Lee, Hong Sun Yu, Kuk Hyun Ahn, Jae-Bok Song, Jong Won Kim, Jae Kwan Ryu

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

Teleoperation of a robot arm working in hazardous environments has been studied in the field of defense and security. A master system is an essential part that plays an important role in the teleoperation. We developed a master system, which is an essential part in the teleoperation, so that it can operate the slave robot arm intuitively and has excellent mobility and portability compared to conventional master systems. The master system adopted a Stewart platform to minimize the size and weight, and the legs of the Stewart platform are composed of wires to improve the operation range of the system. The experimental validation of the developed master system is conducted with a commercial IMU, and the experimental results show that the proposed master system can perform reliable and dexterous teleoperation.

Original language	English
Pages (from-to)	137-142
Number of pages	6
Journal	Transactions of the Korean Society of Mechanical Engineers, A
Volume	39
Issue number	2
DOIs	https://doi.org/10.3795/KSME-A.2015.39.2.137
Publication status	Published - 2015

Keywords

Master
Surveillance Robot
Tele-Operation

ASJC Scopus subject areas

Mechanical Engineering

Access to Document

10.3795/KSME-A.2015.39.2.137

Cite this

@article{3ed0a194a5b445449e94c1d70c768422,

title = "Stewart platform-based master system for tele-operation of a robot arm",

abstract = "Teleoperation of a robot arm working in hazardous environments has been studied in the field of defense and security. A master system is an essential part that plays an important role in the teleoperation. We developed a master system, which is an essential part in the teleoperation, so that it can operate the slave robot arm intuitively and has excellent mobility and portability compared to conventional master systems. The master system adopted a Stewart platform to minimize the size and weight, and the legs of the Stewart platform are composed of wires to improve the operation range of the system. The experimental validation of the developed master system is conducted with a commercial IMU, and the experimental results show that the proposed master system can perform reliable and dexterous teleoperation.",

keywords = "Master, Surveillance Robot, Tele-Operation",

author = "Lee, {Sang Duck} and Yu, {Hong Sun} and Ahn, {Kuk Hyun} and Jae-Bok Song and Kim, {Jong Won} and Ryu, {Jae Kwan}",

note = "Publisher Copyright: {\textcopyright} 2015 The Korean Society of Mechanical Engineers.",

year = "2015",

doi = "10.3795/KSME-A.2015.39.2.137",

language = "English",

volume = "39",

pages = "137--142",

journal = "Transactions of the Korean Society of Mechanical Engineers, A",

issn = "1226-4873",

publisher = "Korean Society of Mechanical Engineers",

number = "2",

}

TY - JOUR

T1 - Stewart platform-based master system for tele-operation of a robot arm

AU - Lee, Sang Duck

AU - Yu, Hong Sun

AU - Ahn, Kuk Hyun

AU - Song, Jae-Bok

AU - Kim, Jong Won

AU - Ryu, Jae Kwan

PY - 2015

Y1 - 2015

N2 - Teleoperation of a robot arm working in hazardous environments has been studied in the field of defense and security. A master system is an essential part that plays an important role in the teleoperation. We developed a master system, which is an essential part in the teleoperation, so that it can operate the slave robot arm intuitively and has excellent mobility and portability compared to conventional master systems. The master system adopted a Stewart platform to minimize the size and weight, and the legs of the Stewart platform are composed of wires to improve the operation range of the system. The experimental validation of the developed master system is conducted with a commercial IMU, and the experimental results show that the proposed master system can perform reliable and dexterous teleoperation.

AB - Teleoperation of a robot arm working in hazardous environments has been studied in the field of defense and security. A master system is an essential part that plays an important role in the teleoperation. We developed a master system, which is an essential part in the teleoperation, so that it can operate the slave robot arm intuitively and has excellent mobility and portability compared to conventional master systems. The master system adopted a Stewart platform to minimize the size and weight, and the legs of the Stewart platform are composed of wires to improve the operation range of the system. The experimental validation of the developed master system is conducted with a commercial IMU, and the experimental results show that the proposed master system can perform reliable and dexterous teleoperation.

KW - Master

KW - Surveillance Robot

KW - Tele-Operation

UR - http://www.scopus.com/inward/record.url?scp=84938314719&partnerID=8YFLogxK

U2 - 10.3795/KSME-A.2015.39.2.137

DO - 10.3795/KSME-A.2015.39.2.137

M3 - Article

AN - SCOPUS:84938314719

SN - 1226-4873

VL - 39

SP - 137

EP - 142

JO - Transactions of the Korean Society of Mechanical Engineers, A

JF - Transactions of the Korean Society of Mechanical Engineers, A

IS - 2

ER -

Stewart platform-based master system for tele-operation of a robot arm

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this