A Stable Tele-operation of a Mobile Robot with the Haptic Feedback

摘要

A hybrid joystick has been developed to share the six d.o.f. (degrees of freedom) for the three d.o.f. inputs and for the three d.o.f. feedback signals. For the remote control of a mobile robot, steering and acceleration commands can be generated by a three d.o.f. joystick motion, that is, x, y and z directional motions. The road conditions which are dynamically changing are not clearly visible for the remote operator usually. Therefore it is necessary to feedback the roll and pitch values which can be generated based upon the INS (Inertial Navigation System) to the operator through the joystick. The yaw angle has been utilized to feedback the real direction of the mobile robot by the steering control. The mechanism and control systems of the hybrid joystick are newly designed and the effectiveness of this hybrid joystick has been verified through the real tele-operation of a mobile robot driving on slanted and tiled roads.