Teleoperation of a mobile robot with time-varying delay and force feedback

被引：20

作者：

Slawinski, Emanuel ^{[1
]}

Mut, Vicente ^{[1
]}

Salinas, Lucio ^{[1
]}

Garcia, Sebastian ^{[1
]}

机构：

[1] Univ Nacl San Juan, Inst Automat INAUT, San Juan, Argentina

来源：

ROBOTICA | 2012年 / 30卷

关键词：

Force feedback; Mobile robots; Teleoperation; Time-varying delay; BILATERAL TELEOPERATION; SYSTEMS; STABILITY;

D O I：

10.1017/S0263574711000427

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper proposes a prediction system and a command fusion to help the human operator in a teleoperation system of a mobile robot with time-varying delay and force feedback. The command fusion is used to join a remote controller and the delayed user's commands. Besides, a predictor is proposed since the future trajectory of the mobile robot is not known a priori being it decided online by the user. The command fusion and predictor are designed based on the time delay and the current context measured through the crash probability. Finally, the proposed scheme is tested from teleoperation experiments considering time-varying delay as well as force feedback.

引用

页码：67 / 77

页数：11

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