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
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;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Conference_Location :
Niagara Falls, Ont., Canada
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626806
