DocumentCode
1850929
Title
Bilateral teleoperation of mobile robots with delay
Author
Slawinski, Emanuel ; Mut, Vicente A. ; Postigo, José F.
Author_Institution
Inst. de Autom., Univ. Nacional de San Juan, Argentina
Volume
3
fYear
2005
fDate
2005
Firstpage
1672
Abstract
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.
Keywords
asymptotic stability; delays; mobile robots; telerobotics; Pioneer 2DX mobile robot; asymptotic stability; bilateral teleoperation; commercial joystick; time delay compensation; visual feedback; Added delay; Asymptotic stability; Communication channels; Control systems; Delay effects; Feedback; Humans; Mobile robots; Robot control; Time varying systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2005 IEEE International Conference
Conference_Location
Niagara Falls, Ont., Canada
Print_ISBN
0-7803-9044-X
Type
conf
DOI
10.1109/ICMA.2005.1626806
Filename
1626806
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