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

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

1794

Lastpage

1798

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICMA.2007.4303822

Filename

4303822