힘 반향 기법을 이용한 전방향 이동 로봇의 원격 제어

Teleoperation Control of Omni-directional Mobile Robot with Force Feedback

This paper presents the implementation of teleoperation control of an omni-direction mobile robot. The master joystick robot has two degrees of freedom to control the movement of the slave mobile robot in the Cartesian space. In addition, the whole teleoperated control system is closed by the force feedback. The operator can feel the contact force as the slave robot makes contact with the environment. Experimental results show that the teleooerated control with force feedback has been successfully implemented.