Workspace mapping using auto-switching mode

T. M. Park; C. S. Hwang; H. Yi; S. R. Lee

doi:10.1166/asl.2017.9759

Workspace mapping using auto-switching mode

T. M. Park, C. S. Hwang, H. Yi, S. R. Lee

School of Mechanical Engineering

Kyungpook National University

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

Abstract

This paper proposes an efficient mapping scheme with distance information between slave robot and target object in tele-operation environment, called auto-switching mode. This mapping approach depends on the distance information, collected by laser sensor. Proposed way consists of three modes: index mode, coarse mode and fine mode. It provides a slave robot with a full-range and discrete of operational workspace, compared to a limited workspace of master. In addition, it presents high efficiency of manipulating a slave robot, reducing the operational time as well as errors. Experiment results show the effectiveness of the proposed performance.

Original language	English
Pages (from-to)	9616-9620
Number of pages	5
Journal	Advanced Science Letters
Volume	23
Issue number	10
DOIs	https://doi.org/10.1166/asl.2017.9759
State	Published - Oct 2017

Keywords

Master-Slave system
Tele-Operation
Workspace spanning

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10.1166/asl.2017.9759

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AB - This paper proposes an efficient mapping scheme with distance information between slave robot and target object in tele-operation environment, called auto-switching mode. This mapping approach depends on the distance information, collected by laser sensor. Proposed way consists of three modes: index mode, coarse mode and fine mode. It provides a slave robot with a full-range and discrete of operational workspace, compared to a limited workspace of master. In addition, it presents high efficiency of manipulating a slave robot, reducing the operational time as well as errors. Experiment results show the effectiveness of the proposed performance.

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Workspace mapping using auto-switching mode

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Keywords

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