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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Obstacle Information Transfer and Control Method using Haptic Device consist of Vibration Motors

진동모터로 구성된 햅틱 디바이스를 이용한 장애물 정보 전달 및 제어 방법

  • Lee, Dong-Hyuk (Department of Electrical Engineering, Pusan National University) ;
  • Noh, Kyung-Wook (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Kang, Sun Kyun (Department of Electrical Engineering, Pusan National University) ;
  • Han, Jong Ho (Department of Electrical Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
  • 이동혁 (부산대학교 전자전기공학과) ;
  • 노경욱 (부산대학교 로봇관련협동과정) ;
  • 강선균 (부산대학교 전자전기공학과) ;
  • 한종호 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2013.05.24
  • Accepted : 2014.07.04
  • Published : 2014.10.01
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Abstract

In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.

Keywords

References

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