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dc.contributor.authorYoon, Dae-Keun-
dc.contributor.authorKim, Shin-Young-
dc.contributor.authorYou, Bum-Jae-
dc.contributor.authorLee, Kwang-Kyu-
dc.contributor.authorCho, JaiHi-
dc.date.accessioned2024-01-19T11:40:42Z-
dc.date.available2024-01-19T11:40:42Z-
dc.date.created2022-03-01-
dc.date.issued2014-11-
dc.identifier.issn2325-033X-
dc.identifier.urihttps://pubs.kist.re.kr/handle/201004/115088-
dc.description.abstractThis paper proposes a compact embedded motor controller that can be mounted in a robot arm. Three different control modes are implemented in the controller: torque, velocity, and position. It supports EtherCAT network for real-time control whose control frequency is faster than 1kHz for 18 network nodes under Linux Xenomai operating system. The compact controllers are mounted inside an 18-DOFs dual-arm telepresence robot for smart shape design. Finally, the robot is connected with a master haptic device Omega-6 and showed successful tele-operation performance.-
dc.languageEnglish-
dc.publisherIEEE-
dc.titleDevelopment of a Compact Motor Controller supporting EtherCAT for a Dual-arm Telepresence Robot-
dc.typeConference-
dc.description.journalClass1-
dc.identifier.bibliographicCitation11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp.253 - 256-
dc.citation.title11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)-
dc.citation.startPage253-
dc.citation.endPage256-
dc.citation.conferencePlaceUS-
dc.citation.conferencePlaceKuala Lumpur, MALAYSIA-
dc.citation.conferenceDate2014-11-12-
dc.relation.isPartOf2014 11TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)-
dc.identifier.wosid000383742100065-
dc.identifier.scopusid2-s2.0-84988241376-
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KIST Conference Paper > 2014
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