Velocity constrained mobile-hapto by coordinate transformation

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.