平面３自由度移動ロボットの障害物衝突回避を支援する３自由度力覚提示ジョイスティック

抄録

This paper contributes to an advanced operational assistance system for avoiding obstacles collision to a mobile robot with moving back and forth and around and rotating in-plane. In this study, the 3-DOF joystick with reaction force display is developed. 3 motors are installed into the joystick, and the impedance control systems are applied to the operational directions in the joystick. In the impedance control, PD gains are varied according to the shortest distance between the obstacle and mobile robot. The effectiveness of the proposed operational assistance system is verified by the experiments which the operators manipulate the mobile robot in the simulator using the 3-DOF joystick.