지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.7
- 수록면
- 605 - 613 (9page)
이용수
초록· 키워드
오류제보하기
This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.
목차
Abstract
Ⅰ. 서론
Ⅱ. 시스템 구성 이동로봇 모델링
Ⅲ. 햅틱 시스템 설계
Ⅳ. 센서 테스트 및 패턴 분석
Ⅴ. 실험 및 결과 분석
Ⅵ. 결론
REFERENCES
참고문헌 (23)
참고문헌 신청
1. [학술대회논문] - H.-S. Kim / 2005 / Design of remote manipulator control system using PHANToM device / Power Electronics Conference 2005 : 595 ~ 597
5. [학술지(정기간행물)] - K. U. Kyung / 2006 / The state of the art and R&D perceptives on haptics / Electronics and Telecommunications Trends 21 (5) : 93 ~ 108
6. [학술지(정기간행물)] - H. G. Kim / 2010 / The stateof- the-art on haptic interface / Journal of Information Technology 8 (1) : 7 ~ 15
7. [학술지(정기간행물)] - M. C. Kim / 2005 / The present and the future of haptic interfaces / Weekly Technology Trends 1204 : 28 ~ 364
9. [학술대회논문] - Soonshin Han / 2007 / Tele-operation of a mobile robot using a force reflection joystick with a single hall sensor / 16th IEEE International Conference on Robot & Human Interactive Communication : 206 ~ 211
5. [학술지(정기간행물)] - K. U. Kyung / 2006 / The state of the art and R&D perceptives on haptics / Electronics and Telecommunications Trends 21 (5) : 93 ~ 108
6. [학술지(정기간행물)] - H. G. Kim / 2010 / The stateof- the-art on haptic interface / Journal of Information Technology 8 (1) : 7 ~ 15
7. [학술지(정기간행물)] - M. C. Kim / 2005 / The present and the future of haptic interfaces / Weekly Technology Trends 1204 : 28 ~ 364
9. [학술대회논문] - Soonshin Han / 2007 / Tele-operation of a mobile robot using a force reflection joystick with a single hall sensor / 16th IEEE International Conference on Robot & Human Interactive Communication : 206 ~ 211
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UCI(KEPA) : I410-ECN-0101-2014-560-003274277