Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric

被引：6

作者：

Penizzotto, Franco ^{[1
]}

Garcia, Sebastian ^{[1
]}

Slawinski, Emanuel ^{[1
]}

Mut, Vicente ^{[1
]}

机构：

[1] UNSJ CONICET, Inst Automt INAUT, RA-5400 San Juan, Argentina

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2015年 / 2015卷

关键词：

MOBILE-ROBOT; TIME-DELAY; STABILITY; SYSTEMS;

D O I：

10.1155/2015/460476

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator's command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.

引用

页数：13

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