Implementation of Tele-operation Control with Force Feedback of Omini-Directional Mobile Robot (ODMR)

This paper presents the teleoperation control with force feedback of the omni-directional mobile robot(ODMR). The omni-directional robot is built as a slave robot and 2 DOF joystick is used as a master robot. The operator controls the movements of the ODMR through wireless communication. In addition, the contact force of the ODMR is measured and fed back to the joystick so that the operator can feel the force. The feasibility of implementing teleoperation control through the transparency between the master and the slave has been tested by experimental works.