Remote Control Method with Force Assist Based on Collision Prediction Calculated from Each Turning Radius in Mobile Robot

This paper proposes the remote control method with the force assist based on the collision prediction calculated from each turning radius in a mobile robot. The remote control system consists of the control device and the mobile robot. By using the force assist in the remote control system, the operator recognizes the environmental information as the tactile sensation. For the realization of the force assist, the environmental information has to be transmitted from the mobile robot to the control device. In addition, the precise force assist is achieved from the high resolution environmental data. However, the communication time delay occurs by increasing environmental data. From this viewpoint, this paper proposes the data compression method based on the collision prediction. This collision prediction is calculated from the environmental information and the prediction trajectory of each turning radius. Not the whole environmental data but the collision prediction for each prediction trajectory is sent from the mobile robot to the control device. As the result, the amount of the data is drastically decreased. In addition, it is possible to realize the force assist having the almost same performance as the conventional method. The validity of the proposed method was confirmed from the experimental results.