In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an o...
详细信息
In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.
This paper proposes a balancing control and driving control of a bicycle robot based on dynamic modeling of the bicycle robot, which has been derived using the Lagrange equations. For the balancing control of the bicy...
详细信息
This paper proposes a new technique that produces improved local information using a low-cost GPS/INS system combined with Extended Kalman Filter and Path Planning when a Quad-rotor flies. In the research, a low-cost ...
详细信息
In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust obser...
详细信息
ISBN:
(纸本)9781467391085
In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust observer technique. Before estimating reaction force, the modeling of electro-hydraulic servo system is processed. Before the fine modeling parameters of electro-hydraulic servo system, modeling equation is obtained through cylinder equation using expansion and shrinkage stroke process. After finding modeling equation, the obtaining accurate modeling parameter is carried out from signal compression method. After defining modeling parameter, reaction force estimation is operated by sliding perturbation observer. The analysis result of estimation for reaction force will be used for bilateral control with master-slave structure.
This paper proposes a robust 3D (dimension) map building system for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D laser scanner, the LRF can be utilized and installed on the mo...
详细信息
This paper proposes a robust 3D (dimension) map building system for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D laser scanner, the LRF can be utilized and installed on the mobile robot for the map building and the autonomous navigation. This research, the scanning operations are performed while the mobile robot moved on the slanted surface and ground without stops. The motion of the mobile robot is transformed into the scanning surface in the process of forming the 3D map. The experimental results reveal that the improved accuracy of navigation for the mobile robot in the real time scanning of the environment.
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...
详细信息
This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non...
详细信息
In this paper, the obstacle recognition research is conducted by using vibration pattern. Remotely, the user can perceive the surroundings sensed by the obstacle recognition unit. The vibration motor was installed at ...
详细信息
Path planning of mobile robot has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosin...
详细信息
暂无评论