Abstract
Advanced impedance control of haptic joystick for effective mobile robot handling
Highlights
Social needs for the tele-operation have been raised sharply in the field of industry and disaster environment to avoid unexpected blind accident
Parallel mechanism suits with precise work and force applied to actuator disperse into parallel links
According to above characteristics, suggested 6 D.O.F haptic joystick designed as combination of serial and parallel mechanisms
Summary
Social needs for the tele-operation have been raised sharply in the field of industry and disaster environment to avoid unexpected blind accident. According to above characteristics, suggested 6 D.O.F haptic joystick designed as combination of serial and parallel mechanisms. Kinematic of specially designed 6 D.O.F. haptic joystick is analyzed for the coordinate of end effect and simple experiment is preceded using mobile robot as a basic research before it is applied to the industrial robot. The structure of this device is combination of 3 manipulators which has serial joint in parallel as shown in Fig.[1] Each of the serial manipulator has 3 D.O.F. that composed of 2 active joints, 1 passive joint and 1 spherical joint. Degree of freedom of 6 D.O.F. serial·parallel mechanism is proved by Gruebler's equation
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