| Title: | OS11-4 Advanced impedance control of haptic joystick for effective mobile robot handling |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 456-459 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS11-4 |
| Author(s): | Gyung-I Choi, Jang-Myung Lee |
| Publication Date: | January 19, 2017 |
| Keywords: | haptic device, tele-operation, mobile platform, impedance control |
| Abstract: | This paper proposes optimized structure of 6 D.O.F. haptic joystick and tele-operated mobile robot system based on haptic interfaces. Kinematic analysis of specially designed 6 D.O.F. haptic joystick derives the coordinate of end effect. The designed haptic joystick transfers operator's moving command to mobile platform with force controlled coordinate information. Attached ultra-sonic sensors detect nearby obstacles including walls and retransfer the distance between mobile platform and obstacles to the haptic joystick. Attained real-time displacement information controls DC motors between links supporting the handle for effective user handling. Practical simulations and real experiments verified proposed impedance control and its tele-operation system of intelligent haptic joystick. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS11/OS11-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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