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http://dx.doi.org/10.5391/JKIIS.2003.13.1.051

Development of Force Feedback Joystick for Remote Control of a Mobile Robot  

Suh, Se-Wook (창원대학교 제어계측공학과 대학원)
Yoo, Bong-Soo (창원대학교 제어계측공학과 대학원)
Joh, Joong-Seon (창원대학교 공과대학 제어계측공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.13, no.1, 2003 , pp. 51-56 More about this Journal
Abstract
The main goal of existing mobile robot system was a complete autonomous navigation and the vision information was just used as an assistant way such as monitoring For this reason, the researches have been going towards sophistication of autonomousness gradually and the production costs also has been risen. However, it is also important to control remotely an inexpensive mobile robot system which has no intelligence at all. Such systems may be much more effective than fully autonomous systems in practice. Visual information from a simple camera and distance information from ultrasonic sensors are used for this system. Collision avoidance becomes the most important problem for this system. In this paper, we developed a force feedback joystick to control the robot system remotely with collision avoiding capability. Fuzzy logic is used for the algorithm in order to implement the expert s knowledge intelligently. Some experimental results show the force feedback joystick werks very well.
Keywords
힘 반향 조이스틱;원격제어;퍼지제어;이동로봇;가상 힘 영역기법;
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