Abstract
A new hybrid joystick has been developed to share the six degrees of freedom (DOF) by three DOF inputs and three DOF feedback signals. For remotely controlling a mobile robot, steering and acceleration commands can be generated by a 3-DOF joystick using [Formula: see text], [Formula: see text], and [Formula: see text] directional motions, respectively. Usually, a remote operator cannot clearly watch dynamically changing terrain conditions; therefore, it is necessary to feedback the slope and tilt conditions of the road to the operator through the joystick. These values can be obtained based on the inertial navigation system (INS) and feedback to the joystick as kind of reflection forces. Further, a yaw angle has been used to feedback the actual direction of the robot through a 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 actual remote operation of a mobile robot driving on slanted and tilted terrain.
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