Velocity constrained mobile-hapto by coordinate transformation

Sho Sakaino; Tomoya Sato; Kouhei Ohnishi

doi:10.1109/ISAS.2011.5960957

Velocity constrained mobile-hapto by coordinate transformation

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this study, we propose velocity constrained mobile-hapto by coordinate transformation. Mobile-hapto is a remote control system that enables two requirements: velocity of a mobile robot is controlled by a handle robot and the reaction force of the mobile robot is fed back to the handle robot. In practice, designers have to assure safety of mobile robots because mobile robots are located in a remote place, which operators cannot perfectly recognize. Therefore, a constraint that enables velocity limitation is proposed in this study. Because coordinate transformation does not destabilize systems, stable and precise velocity constrained mobile-hapto is obtained. The validity of the proposed method is verified by simulations and experiments.

Original language	English
Title of host publication	Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
Pages	248-253
Number of pages	6
DOIs	https://doi.org/10.1109/ISAS.2011.5960957
Publication status	Published - 2011 Aug 23
Event	2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama, Japan Duration: 2011 Jun 17 → 2011 Jun 19

Publication series

Name	Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011

Other

Other	2011 1st International Symposium on Access Spaces, ISAS 2011
Country/Territory	Japan
City	Yokohama
Period	11/6/17 → 11/6/19

ASJC Scopus subject areas

Computer Networks and Communications
Electrical and Electronic Engineering

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10.1109/ISAS.2011.5960957

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Velocity constrained mobile-hapto by coordinate transformation. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.
Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. p. 248-253 5960957 (Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sakaino, S, Sato, T & Ohnishi, K 2011, Velocity constrained mobile-hapto by coordinate transformation. in Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011., 5960957, Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011, pp. 248-253, 2011 1st International Symposium on Access Spaces, ISAS 2011, Yokohama, Japan, 11/6/17. https://doi.org/10.1109/ISAS.2011.5960957

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Velocity constrained mobile-hapto by coordinate transformation

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