Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2008.07a
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- Pages.1823-1824
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- 2008
A remote control robot manipulator using force feedback joystick
로봇 매니퓰레이터 원격 제어
- Kim, In-Soo (Honam University) ;
- Hyun, Woong-Keun (Honam University)
- Published : 2008.07.16
Abstract
We propose a remote controlled robot manipulator using force feedback joystick. User can control easily 5 d.o.f robot manipulator in 3 demensional space using general joystick. A force sensor attached in developed gripper sends signal to main robot controller so as to know gripper grasp the object. The signal also sent to user through force feedback joystick. We designed a dexterous 5 d.o.f robot manipulator analysis the kinematics and inverse kinematics. The robot was simply developed using serial RC motor. As a main robot controller, we use 32bit MPU(AT91SAM7256) and micro C/OS. To show the validity of our developed robot, a several experiments were demonstrated.
Keywords