Project Role and Responsibilities

Kim Jeong-mok joined the project as part of the 2024 summer internship team, focusing on robotics and VR integration at Hanyang University’s Department of Robotics Engineering.

Technical Contributions

• Worked on BTSM (Bilateral Teleoperation System for Manipulators) integration and control
• Developed solutions for Doosan Robotics Manipulator A0509 in Unity environment
• Implemented and tested bHaptics haptic gloves for enhanced user feedback
• Resolved IK (Inverse Kinematics) output issues in Unity, particularly step-like ramp problems
• Applied Gaussian filters to smooth angle controls in Unity
• Established TCP/IP connection between Windows 11 and Windows XP systems

Research and Development

• Investigated IK singularity solutions for redundant robots, focusing on workspace limitations and damping factors
• Explored impedance control techniques for workspace management in Unity
• Conducted research on adaptive DLS (Damped Least Squares) methods to enhance manipulator control
• Analyzed various control strategies including PD control, TDC (Time Delay Control), and Inverse Dynamics for BTSM

Technical Challenges Addressed

• Developed methods to mitigate IK singularity issues in redundant robot systems
• Implemented real-time control based on Doosan API control functions
• Addressed challenges in VR hand tracking integration with Unity for manipulator control
• Explored solutions for jerking issues in API-based control, including interpolation techniques