학술대회논문

실감교류인체감응솔루션연구단의 주요 학술대회 성과를 소개합니다.

A Parameter Estimation Method for the Bilateral Teleoperation Framework for an O2 Lance Manipulator

A Parameter Estimation Method for the Bilateral Teleoperation Framework for an O2 Lance Manipulator
국내/국제 국제 국가명 한국
학술대회명 International Conference on Automation Science and Engineering(CASE) 2012 개최연월 2012-08

저자 HyoungKyun Kim, Byungjae Park, JongWon Lee, YoungJin Park, WanKyun Chung
초록
The O2 lance manipulator is used in the electric arc furnace (EAF) process to supply oxygen in order to remove impurities in molten metal. However, since it is controlled by the human operator who can get only visual information about the EAF, the collision between the lance and the EAF can happen which must be avoided in the process. The bilateral teleoperation can be a solution for this problem, but due to the extreme environment of the EAF environment, the feedback force should be generated based on the virtual environment. Since the parameters of the EAF and O2 lance is time-varying, there exist some errors between VE and real environment which lead to the incorrect force feedback. In this paper the estimation method for parameters of the lance and EAF used in this framework is developed. The proposed method can update the parameters of the EAF and O2 lance manipulator in on-line process, so the bilateral teleoperation can generate more accurate feedback force. The functionality of the proposed method is validated by experiment. 
키워드 electric arc furnace (EAF), O2 lance manipulator

과제명 바이오닉 인터페이스 기반 운동의도 인식 및 감각전달 기술 개발
연구기관 한국과학기술연구원 연구책임자 김기훈