제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Tele-Manipulation of ROBHAZ-DT2 for Hazard Environment Applications

  • Ryu, Dong-Seok (Intelligent Robotics Research Center, Korea Institute of Science and Technology) ;
  • Lee, Jong-Wha (Intelligent Robotics Research Center, Korea Institute of Science and Technology) ;
  • Yoon, Seong-Sik (Intelligent Robotics Research Center, Korea Institute of Science and Technology) ;
  • Kang, Sung-Chul (Intelligent Robotics Research Center, Korea Institute of Science and Technology) ;
  • Song, Jae-Bok (Department of Mechanical Engineering, Korea University) ;
  • Kim, Mun-Sang (Intelligent Robotics Research Center, Korea Institute of Science and Technology)
  • 발행 : 2003.10.22
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초록

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

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