DocumentCode
1852360
Title
Mobile-hapto with yaw rate control for traveling on rough terrain
Author
Sakaino, Sho ; Sato, Tomoya ; Ohnishi, Kouhei
Author_Institution
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
fYear
2010
fDate
7-10 Nov. 2010
Firstpage
1565
Lastpage
1570
Abstract
In this paper, mobile-hapto with yaw rate control is proposed. Mobile-hapto is a kind of remote control system; velocity of a mobile robot is controlled by a handle robot and, at the same time, reaction force of the mobile robot is transmitted to the handle robot. Conventionally, yaw rate of the mobile robot has not been controlled and the mobile robot is hard to keep their traveling direction on rough terrain. To overcome this problem, firstly, we reveal dynamics of mobile-hapto including yaw rate. A controller for mobile-hapto with yaw rate control is then proposed by using the dynamics. Its validity is confirmed by an experiment.
Keywords
control system synthesis; haptic interfaces; mobile robots; motion control; robot dynamics; mobile robot; mobile-hapto controller; mobile-hapto dynamics; reaction force; remote control system; rough terrain; traveling direction; yaw rate control; Equations; Force; Mathematical model; Mobile robots; Robot kinematics; Transforms;
fLanguage
English
Publisher
ieee
Conference_Titel
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society
Conference_Location
Glendale, AZ
ISSN
1553-572X
Print_ISBN
978-1-4244-5225-5
Electronic_ISBN
1553-572X
Type
conf
DOI
10.1109/IECON.2010.5675449
Filename
5675449
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