TY - GEN
T1 - Velocity constrained mobile-hapto by coordinate transformation
AU - Sakaino, Sho
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
PY - 2011/8/23
Y1 - 2011/8/23
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=80051818460&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80051818460&partnerID=8YFLogxK
U2 - 10.1109/ISAS.2011.5960957
DO - 10.1109/ISAS.2011.5960957
M3 - Conference contribution
AN - SCOPUS:80051818460
SN - 9781457707179
T3 - Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
SP - 248
EP - 253
BT - Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
T2 - 2011 1st International Symposium on Access Spaces, ISAS 2011
Y2 - 17 June 2011 through 19 June 2011
ER -