3차원 운동 입력장치 구현

• 영문명: Experiment of a 3D motion input device
• 발행기관: 강원대학교 산업기술연구소
• 저자명: 이우원(Lee Woo Won) 최명환(Choi Myoung Hwan)
• 간행물 정보: 『산업기술연구』vol.19, 1~6쪽, 전체 6쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 1999.09.30

영문 초록

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input devices are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be used as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

목차

Abstract

1. 서론

2. 3차원 운동 입력장치의 기능

3. 국외 기술동향

4. COSMO 센서

5. 3차원 입력장치를 이용한 로봇운동 실험

5. 결론

참고문헌

키워드

3차원 운동 입력장치 3D Motion Input Device