• Title/Summary/Keyword: Teleoperated Mobile Robot

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A study on the new method of force reflection control for the teleoperated mobile robot

  • Hong, Sun-Gi;Lee, Ju-Jang;Kim, Seungho
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.1523-1526
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    • 1996
  • This paper presents a new method of force reflection in the teleoperated mobile robot control: artificial force feedback. Generally it is well known that force feedback from slave to master increases the reality with which the operator interacts with the environment. In the applications of the teleoperated mobile robot, however, such a force feedback control algorithm has rarely appeared in the literature because the contact force between the environment and the mobile robot is not available. In this paper, a method of artificially generating the feedback force for the teleoperated mobile robot is presented in order to improve the task performance. The computed artificial force feeds into the new designed joystick so as to increase the telepresence of the environment. Through simulations, we confirm the validity and effectiveness of our algorithm.

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Cooperative Control of the Multi-Agent System for Teleoperation (원격조종 다개체 로봇의 협동제어)

  • 황정훈;권동수
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.154-154
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    • 2000
  • The cooperative strategy for the teleoperated multi-agent system is presented. And this scheme has been applied to the teleoperated robot soccer system that is newly proposed. For the teleoperated robot soccer system, we made mapping functions to control a 2-wheeled mobile robot using a 2 DoF stickcontroller. The simulation with a real stickcontroller has been evaluated the performance of the proposed mapping function. Then, the basic cooperation strategy has been tested between teleoperated robot and autonomous robot It is shown that the multi-agent system for teleoperation can have a good performance for a job Like a scoring a goal

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Development of Patrol Robot using DGPS and Curb Detection (DGPS와 연석추출을 이용한 순찰용 로봇의 개발)

  • Kim, Seung-Hun;Kim, Moon-June;Kang, Sung-Chul;Hong, Suk-Kyo;Roh, Chi-Won
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.2
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    • pp.140-146
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    • 2007
  • This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.

Teleoperated Control of a Mobile Robot Using an Exoskeleton-Type Motion Capturing Device Through Wireless Communication (Exoskeleton 형태의 모션 캡쳐 장치를 이용한 이동로봇의 원격 제어)

  • Jeon, Poong-Woo;Jung, Seul
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.5
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    • pp.434-441
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    • 2004
  • In this paper, an exoskeleton-type motion capturing system is designed and implemented. The device is designed to have 12 degree-of-freedom entirely to represent human arm motions. Forward and inverse kinematics of the device are analyzed to make sure of its singular positions. With the designed model parameters, simulation studies are conducted to verify that the designed motion capturing system is effective to represent human motions within the workspace. As a counterpart of the exoskeleton system, a mobile robot is built to follow human motion restrictively. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.

Internet-based Teleoperation of a Mobile Robot with Force-reflection

  • Lim, Jae-Nam;Moon, Hae-Gon;Ko, Jae-Pyung;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.50.6-50
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    • 2002
  • In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approachin...

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A Teleoperated Cleaning Robot for a High Radioactive Environment

  • Kim, Ki-Ho;Park, Jang-Jin;Yang, Myung-Seung;Oh, Chae-Youn
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.849-854
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    • 2003
  • The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

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Teleoperation Control of Omni-directional Mobile Robot with Force Feedback (힘 반향 기법을 이용한 전방향 이동 로봇의 원격 제어)

  • Lee, Jeong-Hyeong;Lee, Hyung-Jik;Jung, Seul
    • Proceedings of the KIEE Conference
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    • 2007.04a
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    • pp.243-245
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    • 2007
  • 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.

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Internet-based Teleoperation of a Mobile Robot with Force-reflection (인터넷 환경에서 힘반영을 이용한 이동로봇의 원격제어)

  • 진태석;임재남;이장명
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.8
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    • pp.585-591
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    • 2003
  • A virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

Obstacle avoidance of Mobile Robot with Virtual Impedance (가상임피던스를 이용한 원격 이동로봇의 장애물회피)

  • Jin, Tae-Seok
    • Journal of the Korean Institute of Intelligent Systems
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    • v.19 no.4
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    • pp.451-456
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    • 2009
  • In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

The Adaptive Control for the Teleoperated Mobile Robot through the Wireless LAN (이동로봇의 무선 원격조정을 위한 적응제어)

  • Shim, Kyo-Man;Hong, Hyun-Ju;Kwon, Seok-Geun;Ro, Young-Shick
    • Proceedings of the KIEE Conference
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    • 2002.11c
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    • pp.150-153
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    • 2002
  • When a system is teleoperated in the indoor environment through the wireless LAN, we must consider the communication time delay. The time delay is random and unbounded due to the inherent characteristic and surrounding environment. As result of this, the stability and performance of the teleoperated system is degraded. In this paper, we present the adaptive control algorithm to overcome this problem by measuring time delay and allocating task corresponding to time delay dynamically. And the simple experiment is conducted to demonstrate the feasibility.

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