A Study on the Robot Teleoperation for Mine Removal

Lim, Soo-Chul; Yoo, Sam-Hyeon

Journal of the Korea Institute of Military Science and Technology 2008;11(6):156-163.

Soo-Chul Lim, Sam-Hyeon Yoo

KMA

지뢰제거를 위한 로봇 텔레오퍼레이션 기술 연구

임수철, 유삼현

육군사관학교 무기.기계공학과

Abstract

Future Combat System(FCS), such as unmanned systems that reduce the danger faced by soldiers in the field, are likely to be studied and developed. Soldiers when finding and disposing of mines risk injury and death. Several methods of safe mine retrieval are investigated. In this paper, a mine removal method, which uses a remote controlled robot to get rid of mines using a 4 channel architecture teleoperation method is used. The robot, when in contact with soil and mines, is controlled by a remote control. The feasibility of using teleoperation controlled system to remove mines is demonstrated in this paper. The Matlab-Simulink was used as a tool to simulate mine removal with robots. The force and position of the robot{slave system of 4 channel architecture) and controller(master system of 4 channel architecture) are analyzed when users handle the controller with sinusoidal force.

Key Words: Teleoperation, Mine Removal