PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

被引：14

作者：

Slawinski, E. ^{[1
]}

Garcia, S. ^{[1
]}

Salinas, L. ^{[1
]}

Mut, V. ^{[1
]}

机构：

[1] Univ Nacl San Juan, Inst Automat INAUT, Av Libertador San Martin 1109 Oeste,J5400ARL, San Juan, Argentina

来源：

ROBOTICA | 2016年 / 34卷 / 09期

关键词：

Bilateral teleoperation; Fictitious force; Force feedback; Mobile robot; PD-like controller; Time delay; TIME-DELAY; STABILITY; SYSTEMS;

D O I：

10.1017/S0263574715000223

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

引用

页码：2151 / 2161

页数：11

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