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

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)137-142
Number of pages6
JournalTransactions of the Korean Society of Mechanical Engineers, A
Volume39
Issue number2
DOIs
Publication statusPublished - 2015

Keywords

  • Master
  • Surveillance Robot
  • Tele-Operation

ASJC Scopus subject areas

  • Mechanical Engineering

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