Teleoperated control of mobile robot using exoskeleton type motion capturing device through wireless communication

Author

Jeon, Poong Woo ; Jung, Seul

Author_Institution

Dept. of Mechatronics Eng., Chungnam Nat. Univ., Daejeon, South Korea

Volume

2

fYear

2003

fDate

20-24 July 2003

Firstpage

1107

Abstract

In this paper, teleoperated control of a mobile robot with two arms is implemented. An exoskeleton type motion capturing device is designed and built for controlling the robot remotely through wireless communication. Kinematics of the exoskeleton type motion capturing system are analyzed and simulation studies are conducted to confirm certain ranges of workspace without singular positions. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.

Keywords

indoor radio; man-machine systems; mobile robots; motion control; robot kinematics; telerobotics; exoskeleton device; man-machine interface; mobile robot; motion capturing device; remote control; robot kinematics; teleoperated control; wireless communication; Analytical models; Communication system control; Exoskeletons; Kinematics; Manipulators; Mobile robots; Motion analysis; Motion control; Robot control; Wireless communication;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225497

Filename

1225497