Force display consisting of a wheeled motion base — Expanding mobility from 3-DOF to 6-DOF

Author

Tarao, Susumu ; Kobayashi, Hirotsugu ; Satoh, Masaya ; Saito, Hirokazu

Author_Institution

Dept. of Mech. Eng., Tokyo Nat. Coll. of Technol., Hachioji, Japan

fYear

2010

fDate

21-22 Dec. 2010

Firstpage

390

Lastpage

395

Abstract

Force display is an important element to set up a user-friendly man-machine interaction system (e. g. haptic interface system). To display force easily and conveniently by means of a simple mechanism, we focus attention on the static characteristics of an omnidirectional mobile robot. This paper presents development of a prototype of a planar 3-DOF wheeled motion base consisting of omnidirectional mechanism, and the some experiments to estimate performance of the force display. In addition, for realizing a widely applicable motion base, a spacial 6-DOF motion base mechanically-expanded from the planar 3-DOF one is proposed and prototyped.

Keywords

display devices; human-robot interaction; mobile robots; motion control; prototypes; user interfaces; force display; omnidirectional mechanism; omnidirectional mobile robot; planar 3 DOF wheeled motion prototype; spacial 6 DOF motion; static characteristics; user friendly man-machine interaction system; wheeled motion base; Control systems; Force; Prototypes; Shock absorbers; Torque; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2010 IEEE/SICE International Symposium on

Conference_Location

Sendai

Print_ISBN

978-1-4244-9316-6

Type

conf

DOI

10.1109/SII.2010.5708357

Filename

5708357