Construction of Position Telecontrol for Haptic Device Based on an Omnidirectional Mobile Robot

摘要

This paper presents the novel construction of a position telecontrol system for haptic devices based on an Omnidirectional Mobile Robot. Omnidirectional Mobile Robots are strategically stationed in various locations and used as haptic devices. Users can remotely control the movement of these haptic devices from various locations. The conventional PID controller is selected for position tracking control, and the Ziegler-Nichols closed-loop tuning approach is employed to adjust the parameter settings of all three controllers. Three experimental results confirm the controller's performance for position tracking telecontrol, demonstrating the achievement. The occurrence of steady-state errors is minimal, and a satisfactory level of overshoot is achieved.