Velocity constrained mobile-hapto by coordinate transformation

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
Pages248-253
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama, Japan
Duration: 2011 Jun 172011 Jun 19

Other

Other2011 1st International Symposium on Access Spaces, ISAS 2011
CountryJapan
CityYokohama
Period11/6/1711/6/19

Fingerprint

Mobile robots
Robots
Remote control
Control systems
Experiments

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

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 (pp. 248-253). [5960957] https://doi.org/10.1109/ISAS.2011.5960957

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.

Research output: Chapter in Book/Report/Conference proceedingConference 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, 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
Sakaino S, Sato T, Ohnishi K. Velocity constrained mobile-hapto by coordinate transformation. In Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. p. 248-253. 5960957 https://doi.org/10.1109/ISAS.2011.5960957
Sakaino, Sho ; Sato, Tomoya ; Ohnishi, Kouhei. / Velocity constrained mobile-hapto by coordinate transformation. Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. pp. 248-253
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