KR20230100981A - Robot control system and control method thereof - Google Patents

Abstract

A robot control system is disclosed. The robot control system, when a robot equipped with a camera and communication is connected to the robot, receives and displays a photographed image obtained through the camera mounted on the robot, and transmits a control command input through a control UI screen to the robot. and a user terminal that transmits and controls the robot, and a sensing glove that is worn on a user's hand to obtain motion information corresponding to the motion of the user's hand and transmits the motion information to the robot to control the robot.

Description

Robot control system and control method thereof {Robot control system and control method thereof}

The present invention relates to a robot control system and a control method thereof, and more particularly, to a robot control system for remotely controlling a robot and a control method thereof.

Robots for various purposes are also deployed in factories and homes, and these robots can perform an operation of gripping an external object and moving it from one location to another or transporting it.

For example, an industrial robot disposed in a factory may grip an object that is difficult for a human to grip, transport it to a specific location, or perform assembly. As another example, a robot disposed in a home may perform indoor cleaning, such as carrying foreign substances, or may move an object that is difficult for a person to grip or a dangerous object to a specific location. Various methods for controlling such robots are required.

The present invention has been made in accordance with the above-described needs, and an object of the present invention relates to a robot control system and a control method for controlling a robot using a camera attached to the robot and a sensing glove wearable on a user's hand.

According to an embodiment for achieving the above object of the present invention, the robot control system receives, displays, and controls a photographed image obtained through the camera mounted on the robot when communication is connected to the robot equipped with the camera. A user terminal that controls the robot by transmitting a control command input through the UI screen and motion information corresponding to the movement of the user's hand worn on the user's hand are acquired, and the motion information is transmitted to the robot and a sensing glove for controlling the robot.

In addition, the sensing glove may include a variable resistor provided on the rotation axis of each joint and a communication interface that transmits the motion information acquired based on the changed resistance value of the variable resistor to the robot.

In addition, the robot controls the arm unit based on the motion information received from an arm unit including a gripper and an arm, a driving unit, and the sensing glove, and the user It may include a processor that controls the driving unit based on the control command received from the terminal.

Also, the motion information may include information about a grip motion of the gripper and a motion of the arm.

In addition, the robot may further include a vacuum adsorption unit for fixing the robot to the ground or a wall surface.

The user terminal controls the display to display a display, a user interface, a communication interface, and the control UI screen, and when a control menu provided on the control UI screen is selected through the user interface, a control corresponding to the control menu is selected. A processor for transmitting commands to the robot through the communication interface may be included.

In addition, the processor of the user terminal obtains information about a work situation and a work site of the robot by inputting the captured image received from the robot to a learned artificial intelligence model, and sends a notification message based on the obtained information. can provide.

On the other hand, a robot control method according to an embodiment includes the step of receiving and displaying, by a user terminal, a photographed image from the robot equipped with the camera, the user terminal sending a control command input through a control UI screen to the robot. and controlling the robot by transmitting and controlling the robot by obtaining, by a sensing glove worn on the user's hand, motion information corresponding to the movement of the user's hand, and transmitting the motion information to the robot to control the robot. do.

In addition, the sensing glove may include a variable resistor provided on the rotation axis of each joint, and a communication interface for transmitting the motion information obtained based on the changed resistance value of the variable resistor to the robot.

In addition, the robot includes an arm including a gripper and an arm, and the step of controlling the robot includes the arm based on the motion information received from the sensing glove. ) unit, and controlling the driving unit based on the control command received from the user terminal.

Also, the motion information may include information about a grip motion of the gripper and a motion of the arm.

According to various embodiments described above, it is possible to precisely control the operation of the robot remotely using a camera attached to the robot and a sensing glove wearable on a user's hand.

1 is a diagram for explaining a robot control system according to an embodiment.
2 is a block diagram showing the configuration of a robot according to an embodiment.
3 is a block diagram illustrating a configuration of a user terminal according to an exemplary embodiment.
4 is a block diagram showing the configuration of a sensing glove according to an embodiment.
5 is a diagram schematically illustrating a system configuration according to an exemplary embodiment.
6 is a diagram schematically illustrating a scenario according to an exemplary embodiment.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the embodiments of the present invention have been selected from general terms that are currently widely used as much as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technologies, etc. . In addition, in a specific case, there is also a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the disclosure. Therefore, terms used in the present disclosure should be defined based on the meaning of the term and the general content of the present disclosure, not simply the name of the term.

In this specification, expressions such as “has,” “can have,” “includes,” or “can include” indicate the existence of a corresponding feature (eg, numerical value, function, operation, or component such as a part). , which does not preclude the existence of additional features.

The expression at least one of A and/or B should be understood to denote either "A" or "B" or "A and B".

Expressions such as "first," "second," "first," or "second," as used herein, may modify various components regardless of order and/or importance, and may refer to one component It is used only to distinguish it from other components and does not limit the corresponding components.

In the present disclosure, a “module” or “unit” performs at least one function or operation, and may be implemented in hardware or software or a combination of hardware and software. In addition, a plurality of "modules" or a plurality of "units" are integrated into at least one module and implemented by at least one processor (not shown), except for "modules" or "units" that need to be implemented with specific hardware. It can be.

Hereinafter, an embodiment of the present disclosure will be described in more detail with reference to the accompanying drawings.

In the present disclosure, 'user' may mean a person who is provided with a service by a robot, but is not limited thereto.

1 is a diagram for explaining a robot control system according to an embodiment.

According to FIG. 1 , the robot control system includes a robot 100 , a user terminal 200 and a sensing device 300 .

The robot 100 may refer to various types of machines having the ability to perform a function by itself. For example, a robot may refer to a smart machine that senses the surrounding environment in real time based on sensors, cameras, etc., collects information, and operates autonomously in addition to simple repetitive functions.

The robot 100 according to an embodiment may include a gripper capable of gripping or moving an external object like a human finger. Meanwhile, the gripper may be referred to as a robot hand, which is an end part of an articulated robot, but hereinafter, it will be collectively referred to as a gripper for convenience of explanation.

Meanwhile, the robot 100 may be classified into industrial, medical, household, military, and exploration robots according to fields of use or functions that can be performed. According to an embodiment, industrial robots may be subdivided into robots used in the manufacturing process of factories, robots serving customers, receiving orders, and serving in stores or restaurants. For example, the robot 100 according to an embodiment of the present disclosure controls a gripper in various places such as a factory, hotel, mart, hospital, clothing store, etc. to grip an external object, and then moves the external object to a specific location. It can be implemented as a robot that can carry up to However, this is only an example, and the robot may be classified in various ways according to the application field, function, and purpose of use, and is, of course, not limited to the above-described example.

When the user terminal 200 is communicatively connected to the robot 100, the user terminal 200 receives and displays a captured image obtained through a camera mounted on the robot 100, and transmits a control command input through the control UI screen to the robot 100. It is possible to control the robot 100 by transmitting.

Here, the user terminal 200 may be a device such as a smart phone, a laptop computer, a tablet PC, a smart TV, a mobile phone, a personal digital assistant (PDA), or a laptop, but is not limited thereto. According to one example, the user terminal 200 has a built-in touch screen, so that a program can be executed using a finger or a pen (eg, a stylus pen).

The user terminal 200 may perform communication with a server by accessing a web page and logging in, or logging in through an application and accessing a user account. For example, the user terminal 200 may access a user account having control authority for the robot 100 .

The server may be implemented as a central server (or integration server) responsible for interaction between various operating systems and applications in all network systems, or a cloud server using cloud computing technology. Here, cloud computing refers to Internet-based computing technology, and is a web-based software service in which a program is placed in a utility data server on the Internet and then called and used on a computer or mobile phone.

According to an embodiment, the sensing glove 300 may be worn on a user's hand to acquire motion information corresponding to a motion of the user's hand, and transmit the motion information to at least one of the robot 100 and the user terminal 200.

2 is a block diagram showing the configuration of a robot according to an embodiment.

According to FIG. 2 , the robot 100 includes at least one sensor 110, a memory 120, a driving unit 130, an arm unit 140, a vacuum suction unit 150, a communication interface 160, and a processor 170. can include

At least one sensor 110 may include a plurality of sensors of various types. The sensor 110 may measure a physical quantity or detect an operating state of the robot 100 and convert the measured or sensed information into an electrical signal. The sensor 110 may include a camera, and the camera may include a lens for focusing visible light and other optical signals received after being reflected by an object into an image sensor, and an image sensor capable of detecting visible light and other optical signals. Here, the image sensor may include a 2D pixel array divided into a plurality of pixels, and the camera according to an example may be implemented as a depth camera. In addition, the sensor 140 may include a distance sensor such as a light detection and ranging (LIDAR) sensor and a time of flight (TOF) sensor.

In addition, the sensor 110 may further include a force torque sensor for identifying the weight of the arm 140 .

Other sensors 110 include a collision detection sensor, a gesture sensor, a gyro sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, and a color sensor (eg, a red, green, blue (RGB) sensor). , a bio sensor, a temperature/humidity sensor, an illuminance sensor, or an ultra violet (UV) sensor.

The memory 120 may store data necessary for various embodiments. The memory 120 may be implemented in the form of a memory embedded in the robot 100 or in the form of a removable memory in the robot 100 depending on the data storage purpose. For example, data for driving the robot 100 is stored in a memory embedded in the robot 100, and data for extended functions of the robot 100 is stored in a memory attachable to and detachable from the robot 100. It can be. On the other hand, in the case of memory embedded in the robot 100, volatile memory (eg, DRAM (dynamic RAM), SRAM (static RAM), SDRAM (synchronous dynamic RAM), etc.), non-volatile memory (non-volatile memory) (eg : OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory (e.g. NAND flash or NOR flash, etc.) , hard drive, or solid state drive (SSD). In addition, in the case of a memory attachable to and detachable from the robot 100, a memory card (eg, CF (compact flash), SD (secure digital), Micro-SD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.), external memory that can be connected to the USB port (e.g. For example, a USB memory) may be implemented in the form of the like.

The driving unit 130 is a device capable of driving the robot 100. The driving unit 130 may adjust the driving direction and driving speed under the control of the processor 170, and the driving unit 130 according to an example may be a power generating device (eg: Gasoline engine, diesel engine, LPG (liquefied gas petroleum) engine, electric motor, etc., depending on fuel (or energy source) used steering (hydraulics steering, electronic control power steering (EPS), etc.), driving devices (eg, wheels, propellers, etc.) for driving the robot 100 according to power may be included. Here, the drive unit 130 may be modified according to the driving type (eg, wheel type, walking type, flight type, etc.) of the robot 100 .

The arm unit 140 may include a gripper and an arm.

The arm part 140 may have a shape similar to a human arm, and may have a shoulder, an elbow, a forearm, and a wrist according to an example. The arm unit 140 can be implemented in various types suitable for the function, and each type can affect the function and movement range in which the arm can operate.

According to one embodiment, the arm may be implemented as an articulated arm. Articulating arms can be classified according to the number of axes or points of rotation they have. For example, it may be implemented as a 4-axis, 6-axis, and 7-axis articulated arm, but is not limited thereto. For example, it may be implemented as a Cartesian/linear robot arm, a cylindrical robot arm, a spherical/polar robot arm, a SCARA robot arm, etc., but is not limited thereto.

The vacuum adsorption unit 150 may perform a vacuum adsorption function to fix the robot 100 to the ground or a wall surface. According to an example, the robot 300 may be fixed to the ground or a wall surface in various environments using a vacuum fan motor (or a suction fan motor) to support stable work.

Of course, the communication interface 160 may be implemented as various interfaces according to the implementation example of the robot 100 . For example, the communication interface 160 includes Bluetooth, AP-based Wi-Fi (Wi-Fi, Wireless LAN network), Zigbee, wired/wireless LAN (Local Area Network), WAN (Wide Area Network), Communication may be performed with the user terminal 200 and the sensing glove 300 through a communication method such as Ethernet or IEEE 1394.

At least one processor 170 controls the overall operation of the robot 100. Specifically, the processor 170 may be connected to each component of the robot 100 to control the overall operation of the robot 100. For example, the processor 170 may be electrically connected to the memory 120 and the driving unit 130 to control the overall operation of the robot 100. Processor 170 may be composed of one or a plurality of processors. For example, various functions (eg, map creation and route planning) described below may be performed by one processor, but different functions may be performed by a plurality of processors.

The processor 170 may perform the operation of the robot 100 according to various embodiments by executing at least one instruction stored in the memory 120 .

According to an embodiment, the processor 170 includes a digital signal processor (DSP), a microprocessor, a central processing unit (CPU), a micro controller unit (MCU), and a micro processing unit (MPU). unit), Neural Processing Unit (NPU), controller, application processor (AP), etc., but is described as the processor 170 in this specification.

The processor 170 may be implemented as a system on chip (SoC), large scale integration (LSI), or a field programmable gate array (FPGA). Also, the processor 170 may include volatile memory such as SRAM.

The processor 170 may control an arm unit based on motion information received from the sensing glove 300 . Here, the motion information may include information about the grip motion of the gripper and the motion of the arm. However, motion information of the sensing glove 300 may also be received through the user terminal 200 .

Also, the processor 170 may control at least one of the driving unit 130 and the arm unit 140 based on a control command received from the user terminal 200 .

According to an example, the processor 170 may control the operation of the gripper and the arm by controlling the angle of the motor provided in the arm 140 .

In addition, the processor 170 may transmit the captured image acquired through the camera to the user terminal 200 . In this case, the user can monitor the image provided to the user terminal 200 in real time and control the operation of the robot 100 . For example, the processor 170 may obtain an image having excellent visibility through image synthesis using mutual advantages that near infrared rays save detail in a dark region and visible light images preserve colors.

Also, the processor 170 may adjust the strength of the force applied to the arm 140 based on the weight of the arm 140 obtained through the force torque sensor.

3 is a block diagram illustrating a configuration of a user terminal according to an exemplary embodiment.

According to FIG. 3 , the user terminal 200 may include a display 210 , a user interface 220, a communication interface 230 and a processor 240 .

The display 210 may be implemented as a display including a self-light emitting element or a display including a non-light emitting element and a backlight. For example, LCD (Liquid Crystal Display), OLED (Organic Light Emitting Diodes) display, LED (Light Emitting Diodes), micro LED (micro LED), Mini LED, PDP (Plasma Display Panel), QD (Quantum dot) display , QLED (Quantum dot light-emitting diodes), etc. can be implemented in various types of displays. The display 110 may also include a driving circuit, a backlight unit, and the like that may be implemented in the form of an a-si TFT, a low temperature poly silicon (LTPS) TFT, or an organic TFT (OTFT). Meanwhile, the display 110 may be implemented as a flexible display, a rollable display, a 3D display, a display in which a plurality of display modules are physically connected, and the like.

The user interface 220 may be implemented as a device such as a button, touch pad, mouse, or keyboard, or may be implemented as a touch screen capable of simultaneously performing the above-described display function and manipulation input function.

Of course, the communication interface 230 may be implemented as various interfaces according to implementation examples of the user terminal 200 . For example, the communication interface 230 includes Bluetooth, AP-based Wi-Fi (Wi-Fi, Wireless LAN network), Zigbee, wired/wireless LAN (Local Area Network), WAN (Wide Area Network), Communication may be performed with the robot 100 and the sensing glove 300 through a communication method such as Ethernet or IEEE 1394.

According to one embodiment, the processor 230 may display the captured image received from the robot 100 through the display 110 . In this case, the user can monitor the work situation and work site of the robot 100 in real time and control the operation of the robot 100 . For example, the processor 230 may acquire an image having excellent visibility through image synthesis using mutual advantages that near infrared rays save details of a far dark region and visible light images preserve colors.

Also, the processor 230 may display a control UI screen for controlling the robot 100 through the display 110 . In this case, the processor 230 may transmit a control command for controlling the robot 100 to the robot 100 based on a user command for a control menu on the control UI screen through the user interface 210 .

According to another embodiment, the processor 230 obtains information about the work situation and the work site of the robot 100 using the learned artificial intelligence model, and when it is determined that it is a specific situation based on the obtained information, a notification message is received. can provide. In this case, the artificial intelligence model may be stored in the user terminal 200, but may also be stored in an external server. In this case, the processor 230 may transmit the captured image to an external server and receive information or a notification message about the work situation of the robot 100 and the work site from the external server. Here, the notification message may be provided through a visual notification through the display 110, an audio notification through a speaker, a vibration notification, and the like.

According to an example, the artificial intelligence model is a convolutional neural network (CNN), a recurrent neural network (RNN), a restricted boltzmann machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), or a deep Q-network ( Deep Q-Networks), etc., but is not limited thereto.

According to an embodiment, an artificial intelligence model may be learned based on a pair of input training data and output training data or based on input training data. Here, the learning of the artificial intelligence model means that the basic artificial intelligence model (eg, an artificial intelligence model including random parameters) is learned using a plurality of training data by a learning algorithm, so that desired characteristics (or, It means that a predefined action rule or an artificial intelligence model set to perform a purpose) is created. Such learning may be performed through the electronic device 100, but is not limited thereto and may be performed through a separate server and/or system. Examples of learning algorithms include supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but are not limited to the above examples. However, this is an example of supervised learning, and it goes without saying that an artificial intelligence model can be trained based on unsupervised learning in which an artificial intelligence model is trained by inputting only input data.

In addition, the user terminal 200 may further include general components such as a memory, a speaker, and a microphone.

4 is a block diagram showing the configuration of a sensing glove according to an embodiment.

According to FIG. 4 , the sensing glove 300 may include a variable resistor 310 , a communication interface 320 and a processor 330 . Here, the implementation form of the communication interface 320 and the processor 330 is the same as/similar to the implementation form of the communication interface 160 and the processor 170 shown in FIG. 2, so detailed descriptions thereof will be omitted.

The sensing glove 300 is wearable on a user's hand and may cover at least a portion of the user's arm.

The variable resistor 310 may be provided on a rotation axis of each joint region of the sensing glove 300 .

The processor 330 may transmit motion information obtained based on the changed resistance value of the variable resistor to at least one of the robot 100 and the user terminal 200 through the communication interface 320 .

According to an example, the processor 330 may measure an angle value according to a rotation angle through a variable resistor.

For example, a user may bend a joint such as a finger or a wrist while wearing the sensing glove 300 . In this case, when the angle of the joint is changed, the value of the variable resistor is also changed while the rotating shaft of the variable resistor is also rotated. In this case, the processor 330 may convert the changed variable resistance value into a digital signal and transmit it to the robot 100 . Accordingly, the processor 330 may include a resistance value sensing circuit, an analog-digital converter (ADC), or the like, or may be implemented to communicate with a circuit performing a corresponding function.

In addition, a sensor may be provided in the sensing glove. Here, the sensor may include an acceleration sensor, a gyro sensor, and the like. However, it is not limited thereto, and other sensors identical/similar to those provided in the robot 100 may be provided. In this case, the processor 330 may measure the motion and angle of the user's arm using the sensed value of the sensor.

5 is a diagram schematically illustrating an implementation example of a robot control system according to an embodiment.

Of course, the implementation example shown in FIG. 5 is only one implementation example, and each communication element, IC chip, interface, etc. may be implemented in various forms.

6 is a diagram schematically illustrating a scenario according to an exemplary embodiment.

As shown in FIG. 6, there may be various scenarios, and since each scenario has been described above, a detailed description thereof will be omitted.

According to various embodiments described above, it is possible to precisely control the operation of the robot remotely using a camera attached to the robot and a sensing glove wearable on a user's hand.

Meanwhile, the methods according to various embodiments described above may be implemented in the form of an application that can be installed in an existing electronic device. Alternatively, the above-described methods according to various embodiments of the present disclosure may be performed using a deep learning-based artificial neural network (or deep artificial neural network), that is, a learning network model.

In addition, the methods according to various embodiments described above may be implemented only by upgrading software or hardware of an existing electronic device.

In addition, various embodiments described above may be performed through an embedded server included in the electronic device or an external server of the electronic device.

Meanwhile, according to an exemplary embodiment, various embodiments described above may be implemented as software including instructions stored in a machine-readable storage medium (eg, a computer). A device is a device capable of calling a stored command from a storage medium and operating according to the called command, and may include an electronic device (eg, the electronic device A) according to the disclosed embodiments. When a command is executed by a processor, the processor may perform a function corresponding to the command directly or by using other components under the control of the processor. An instruction may include code generated or executed by a compiler or interpreter. The device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-temporary' only means that the storage medium does not contain a signal and is tangible, but does not distinguish whether data is stored semi-permanently or temporarily in the storage medium.

Also, according to one embodiment, the method according to various embodiments described above may be included and provided in a computer program product. Computer program products may be traded between sellers and buyers as commodities. The computer program product may be distributed in the form of a device-readable storage medium (eg compact disc read only memory (CD-ROM)) or online through an application store (eg Play Store™). In the case of online distribution, at least part of the computer program product may be temporarily stored or temporarily created in a storage medium such as a manufacturer's server, an application store server, or a relay server's memory.

In addition, each of the components (eg, modules or programs) according to various embodiments described above may be composed of a single object or a plurality of entities, and some sub-components among the aforementioned sub-components may be omitted, or other sub-components may be used. Components may be further included in various embodiments. Alternatively or additionally, some components (eg, modules or programs) may be integrated into one entity and perform the same or similar functions performed by each corresponding component prior to integration. According to various embodiments, operations performed by modules, programs, or other components may be executed sequentially, in parallel, repetitively, or heuristically, or at least some operations may be executed in a different order, may be omitted, or other operations may be added. can

Although preferred embodiments have been shown and described above, the present disclosure is not limited to the specific embodiments described above, and is available to those skilled in the art without departing from the subject matter claimed in the claims. Of course, various modifications are possible, and these modifications should not be individually understood from the technical spirit or perspective of the present disclosure.

100: robot 200: user terminal
300: sensing glove

Claims (10)

In the robot control system,
When communication is connected to a robot equipped with a camera, a photographed image obtained through the camera mounted on the robot is received and displayed;
A user terminal for controlling the robot by transmitting a control command input through a control UI screen to the robot; and
A robot control system comprising: a sensing glove worn on a user's hand to obtain motion information corresponding to a motion of the user's hand and transmit the motion information to the robot to control the robot. According to claim 1,
The sensing glove,
Variable resistance provided on the axis of rotation of each joint; and
A robot control system comprising a; communication interface for transmitting the motion information acquired on the basis of the changed resistance value of the variable resistor to the robot. According to claim 1,
the robot,
an arm unit including a gripper and an arm;
driving unit; and
Controlling the arm unit based on the motion information received from the sensing glove;
A robot control system comprising a; processor for controlling the drive unit based on the control command received from the user terminal. According to claim 3,
The motion information,
A robot control system comprising information about the grip operation of the gripper and the movement of the arm. According to claim 3,
the robot,
A robot control system further comprising a; vacuum adsorption unit for fixing the robot to the ground or a wall surface. According to claim 1,
The user terminal,
display;
user interface;
communication interface; and
Control the display to display the control UI screen;
A robot control system comprising a; processor for transmitting a control command corresponding to the control menu to the robot through the communication interface when the control menu provided on the control UI screen is selected through the user interface. According to claim 6,
The processor of the user terminal,
A robot control system for obtaining information on a work situation and a work site of the robot by inputting the captured image received from the robot to the learned artificial intelligence model, and providing a notification message based on the obtained information. In the robot control method,
Receiving and displaying, by the user terminal, a photographed image from a robot equipped with a camera;
Controlling the robot by transmitting, by the user terminal, a control command input through a control UI screen to the robot; and
A control method comprising: obtaining, by a sensing glove worn on a user's hand, motion information corresponding to a motion of the user's hand, and controlling the robot by transmitting the motion information to the robot. According to claim 8,
The sensing glove,
Variable resistance provided on the axis of rotation of each joint; and
And a control method comprising a; communication interface for transmitting the motion information obtained on the basis of the changed resistance value of the variable resistor to the robot. According to claim 8,
the robot,
It includes an arm part including a gripper and an arm,
Controlling the robot is
controlling the arm unit based on the motion information received from the sensing glove; and
Further comprising: controlling a driving unit based on the control command received from the user terminal;
The motion information,
A control method comprising information on a grip operation of the gripper and a motion of the arm.

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