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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Haptic Joystick Implementation using Vibration Pattern Algorithm

진동패턴 알고리즘을 적용한 조이스틱의 햅틱 구현

  • Noh, Kyung-Wook (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Lee, Dong-Hyuk (Department of Electrical Engineering, Pusan National University) ;
  • Han, Jong-Ho (Department of Electrical Engineering, Pusan National University) ;
  • Park, Sookhee (Department of Electrical Engineering, Pusan National University) ;
  • Lee, Jangmyung (Department of Electrical Engineering, Pusan National University)
  • 노경욱 (부산대학교 로봇관련협동과정) ;
  • 이동혁 (부산대학교 전자전기공학과) ;
  • 한종호 (부산대학교 전자전기공학과) ;
  • 박숙희 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2013.01.28
  • Accepted : 2013.05.20
  • Published : 2013.07.01
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Abstract

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

Keywords

Acknowledgement

Supported by : 정보통신산업진흥원

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