CAJ | 학술논문

手控器是主从遥操作系统的关键设备，它不仅是从机械手进行实时运动控制的输入设备，而且是将从机械手与未知环境之间的相互作用力提供给操作者的力觉遥现装置，是人与机器人之间建立紧密动态耦合的重要接口．因此，其性能的好坏，直接影响遥操作系统的操作性能．近年来，在手控器研制方面的文章已发表不少，但很少涉及对手控器进行评价的方法和量化指标．这种目标的模糊性必然造成某些设计上的盲目性．本文作者在总结多年来对手控器研制和试验工作经验的基础上，试图对这个问题进行比较深入的探讨，初步提出了一套评价方法和量化指标．
수공기시주종요조작계통적관건설비，타불부시종궤계수진행실시운동공제적수입설비，이차시장종궤계수여미지배경지간적상호작용력제공급조작자적력각요현장치，시인여궤기인지간건립긴밀동태우합적중요접구．인차，기성능적호배，직접영향요조작계통적조작성능．근년래，재수공기연제방면적문장이발표불소，단흔소섭급대수공기진행평개적방법화양화지표．저충목표적모호성필연조성모사설계상적맹목성．본문작자재총결다년래대수공기연제화시험공작경험적기출상，시도대저개문제진행비교심입적탐토，초보제출료일투평개방법화양화지표．
Master arm is a key device for master slave manipulation system (MSMs), It is not only tomeasure the human operator's arm motion, but also to telepresence the forces the slave arm will receive fromthe environment during tasks, and is an important man-machine interface for establishing a kinestheticcoupling between operator and telerobot, thus, its performance will directly affect the maneuverability ofMSMs. So far, a variety of master arm designs have been developed for teleoperation, but the evaluationmethod and evaluation index of master arm have seldom been studied. The unclearness of aim will bringabout the blindness of design. In this paper, we attempt to explore it based on our experience of developmentin master arm and offer the evaluation method and evaluation index of master arm.