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

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.