Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Internet-based Teleoperation of a Mobile Robot with Force-reflection

인터넷 환경에서 힘반영을 이용한 이동로봇의 원격제어

  • 진태석 (부산대학교 대학원 전자공학과) ;
  • 임재남 (부산대학교 대학원 전자공학과) ;
  • 이장명 (부산대학교 전자공학과)
  • Published : 2003.08.01
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Abstract

A virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

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References

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