A Cable-Driven Parallel Robot Remotely Controlled by a Human-Driven Parallel Cable Robot
Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany
Tagungsband: ISR 2018
Seiten: 6Sprache: EnglischTyp: PDFPersönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Jung, Jinwoo; Kim, Eui-Sun (Medical Microrobot Center, Chonnam National University, Gwangju, South Korea)
Jin, XueJun; Piao, Jinlong; Choi, Eunpyo; Park, Jong-Oh; Kim, Chang-Sei (School of Mechanical Engineering, Chonnam National University, Gwangju, South Korea)
A cable-driven parallel robot (CDPR) has been widely researched for the purpose of industrial application maximizing its abilities. Despite of its potential capabilities in industry, intuitive haptic control for the CDPR has not been addressed yet. For the perspective of intuitive remote control of a CDPR, this paper presents a remote control methodology for the CDPR by incorporating another CDPR system. We implemented two CDPRs with wireless communcation; one is for a master CDPR and the other is for a slave CDPR. The mini-size CDPR are implemented as the master system placed in operator room and a grand-size CDPR is used for the slave robot placed at workspace. The master CDPR commands position to the slave CDPR and the slave CDPR tension is feedback to the master CDPR. The operator can control the slave CDPR appropriately by manipulating the master CDPR’s end-effector in fully utilizing 6-DoF motion. Experimental result shows satisfactory synchronized motion between the two CDPRs. Since the results provide solution of wireless remote control with intuitive 6-degree of freedom (DoF) haptic device, this research has a practical potential to extend the CDPR’s application to unmanned workspace, where the robot task are changeable in terms of the work specification, hazardous workspace such as nuclear power plant, or extreme workspace such as a space, as well as a long distant remote manipulation at two different sites.