Teleoperation of mobile robots with time-varying delay

被引：12

作者：

Slawinski, Emanuel ^{[1
]}

Mut, Vicente ^{[1
]}

Postigo, Jose F. ^{[1
]}

机构：

[1] Univ Nacl San Juan, Inst Automat INAUT, RA-5400 San Martin, San Juan, Argentina

来源：

ROBOTICA | 2006年 / 24卷

关键词：

asymptotic stability; mobile robots; teleoperation; time-varying delay;

D O I：

10.1017/S0263574706002840

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper proposes a stable control structure for the bilateral teleoperation of mobile robots. The proposed control structure includes a time-delay compensation placed on both the local and remote sites of the teleoperation system. To illustrate the performance and stability of the proposed control structure, experiences on a Pioneer 2DX mobile robot teleoperated through a commercial joystick with visual feedback, are shown.

引用

页码：673 / 681

页数：9

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