이동로봇의 원격제어를 위한 힘 반향 조이스틱 개발
- 원문 URL
The main goal of existing mobile robot system was a complete autonomous navigation and at this time, the vision information was just used as an assistant way to monitor that. For this reason, the researches about a mobile robot system have been going towards developing the itself function gradually and the production costs also has risen together. However, it is also one of the important parts that the operator controls remotely the inexpensive mobile robot system for a moving only. At this moment, the signal to a remote control uses mainly the vision information by a camera and the distance information by ultrasonic sensors or etc. But because the vision information is inappropriate to supply an three-dimensional solid information, the distance information by ultrasonic sensors is very useful. In this paper, we developed a force feedback joystick for remote control that uses the information of ultrasonic sensors. The algorithm about a force reflection is the field that is necessary to achieve an expert system because it is difficult to be expressed by an equation. By using a force feedback algorithm which uses the fuzzy logic to the remote control of the mobile robot, the operator can understand the surroundings and handle the mobile robot safely.