원격 제어되는 볼팅 로봇을 위한 마스터암과 제어 시스템Master Arm and Control System for Teleoperated Bolting Robot
- Other Titles
- Master Arm and Control System for Teleoperated Bolting Robot
- Authors
- 이상우; 박신석; 박장우
- Issue Date
- 2013
- Publisher
- 한국정밀공학회
- Keywords
- Construction Automation (건설 자동화); Mobile Bolting Robot System (이동식 볼트 체결 로봇 시스템); Teleopertaion (원격 제어); Intuitive Controller (직관적인 조작기); Fitts’ Law (피츠의 법칙)
- Citation
- 한국정밀공학회지, v.30, no.2, pp.185 - 193
- Indexed
- KCI
- Journal Title
- 한국정밀공학회지
- Volume
- 30
- Number
- 2
- Start Page
- 185
- End Page
- 193
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/105609
- DOI
- 10.7736/KSPE.2013.30.2.185
- ISSN
- 1225-9071
- Abstract
- The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts’ law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed tele-operation system can be possible to replace the operation in the cabin.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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