Bilateral teleoperation of wheeled mobile robot with time delay using virtual image robot

Author

Kawai, Yasunori ; Namerikawa, Toru ; Fujita, Masayuki

Author_Institution

Dept. of Electr. Eng., Ishikawa Nat. Coll. of Technol., Ishikawa, Japan

fYear

2010

fDate

8-10 Sept. 2010

Firstpage

77

Lastpage

82

Abstract

This paper considers the bilateral teleoperation of wheeled mobile robot with time delay using the virtual image robot. In this paper, we introduce the virtual image robot as a master robot. The human operator commands the virtual image robot, the slave wheeled mobile robot tracks the motion of the virtual image robot. The kinematics and dynamics of master/slave robots is considered. The scattering theory and passivity based control schemes for bilateral teleoperation is applied, the control law is proposed. In the simulation, the performance of the proposed bilateral teleoperation system is verified using wheeled mobile robots.

Keywords

delays; mobile robots; robot dynamics; robot kinematics; telerobotics; bilateral teleoperation; passivity based control; robot dynamics; robot kinematics; scattering theory; time delay; virtual image robot; wheeled mobile robot; Delay effects; Frequency modulation; Humans; Iron; Mobile robots; Scattering;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2010 IEEE International Conference on

Conference_Location

Yokohama

Print_ISBN

978-1-4244-5362-7

Electronic_ISBN

978-1-4244-5363-4

Type

conf

DOI

10.1109/CCA.2010.5611232

Filename

5611232