Title :
Implementation of Tele-operation Control with Force Feedback of Omini-Directional Mobile Robot (ODMR)
Author :
Lee, Jeong H. ; Lee, Hyung J. ; Jung, Seul
Author_Institution :
Chungnam Nat. Univ., Daejeon
Abstract :
This paper presents the teleoperation control with force feedback of the omni-directional mobile robot(ODMR). The omni-directional robot is built as a slave robot and 2 DOF joystick is used as a master robot. The operator controls the movements of the ODMR through wireless communication. In addition, the contact force of the ODMR is measured and fed back to the joystick so that the operator can feel the force. The feasibility of implementing teleoperation control through the transparency between the master and the slave has been tested by experimental works.
Keywords :
force feedback; mobile robots; radiocommunication; telerobotics; 2 DOF joystick; force feedback; master-slave robot; omni directional mobile robot; teleoperation control; wireless communication; Communication system control; Force control; Force feedback; Force measurement; Master-slave; Medical robotics; Mobile robots; Orbital robotics; Robot control; Robot sensing systems; force feedback; omni-directional mobile robot; teleoperation;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303822
