DocumentCode :
580724
Title :
Armrest Joystick -mechanism design and basic experiments-
Author :
Ishida, Hiroaki ; Hagiwara, Tetsuo ; Ueda, Koji ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
5119
Lastpage :
5124
Abstract :
Manipulators, which are mounted on robots that substitute man at dangerous places like indoors and outdoors disaster sites or mine fields, have been mainly controlled by joysticks. However, joysticks are difficult to manipulate and complex tasks become hard to be done by operators because of a limit and discordance of controlled degree of freedom. Therefore, a controller with high operability like the Master-Slave system is needed, nevertheless conventional controllers are not used in these situations because there is no controller which has compact structures and intuitively controls 3DOF position and 3DOF posture. In this research, we propose a remote controller “Armrest Joystick” of the Master-Slave system which has high portability and operability. The Armrest Joystick is attached to a foldable portable chair and can be carried easily. It consists of a 3DOF position controller with an armrest supporting the operator´s arm during operations, a 3DOF posture controller and a gripper controller. Furthermore, it has motors for the force feedback on all axes for more intuitive operations. In this paper, we report the basic concept and design of the Armrest Joystick, and the experiments which verify operability and the validity of the force feedback.
Keywords :
control system synthesis; disasters; force feedback; grippers; human-robot interaction; manipulators; armrest joystick; disaster sites; force feedback; gripper controller; manipulators; master-slave system; mechanism design; mine fields; posture controller; robots; Couplings; Force; Force feedback; Grippers; Joints; Robots; Wrist;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385981
Filename :
6385981
Link To Document :
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