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Safety Enhancement of Teleoperation using Haptic Control

햅틱 제어에 의한 원격작업의 안전성 향상

  • Kim, Yun Bae (Department of Electrical and Computer Engineering, University of Seoul) ;
  • Choi, Gi Sang (Department of Electrical and Computer Engineering, University of Seoul) ;
  • Choi, Gi Heung (Department of Mechanical Systems Engineering, Hansung University)
  • 김윤배 (서울시립대학교 전자전기컴퓨터공학부) ;
  • 최기상 (서울시립대학교 전자전기컴퓨터공학부) ;
  • 최기흥 (한성대학교 기계시스템공학과)
  • Received : 2013.03.07
  • Accepted : 2013.07.24
  • Published : 2013.08.31

Abstract

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

Acknowledgement

Supported by : 서울시립대학교

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