Title :
Stable Teleoperation of Mobile Robots
Author :
Slawinski, Emanuel ; Postigo, José ; Mut, Vicente
Author_Institution :
Instituto de Autom., San Juan Univ.
Abstract :
This paper proposes a stable control scheme for bilateral teleoperation of mobile robots in presence of obstacles and time-varying delay. The proposed control scheme is composed by a velocity controller on board the mobile robot and a time-delay compensation placed on both the local and remote sites of the teleoperation system. Finally, experiments on a mobile robot teleoperated by a human operator with visual feedback through Internet are shown
Keywords :
compensation; delays; mobile robots; stability; telerobotics; time-varying systems; velocity control; bilateral teleoperation; mobile robots; stability; time-delay compensation; time-varying delay; velocity control; visual feedback; Control systems; Delay effects; Delay systems; Humans; Internet; Mechatronics; Mobile robots; Robotics and automation; Stability analysis; Velocity control; exponential stability; mobile robots; teleoperation; time-varying delay;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257534
