Analysis and Experimentation of a Mobile Robot Teleoperation System over Internet

Author

Penizzotto, Franco ; Slawinski, Emanuel ; Mut, Vicente

Author_Institution

Inst. de Autom. (INAUT), Univ. Nac. de San Juan, San Juan, Argentina

Volume

12

Issue

7

fYear

2014

fDate

Oct. 2014

Firstpage

1191

Lastpage

1198

Abstract

In this paper, stability analysis and experimentation of a control scheme for bilateral teleoperation of mobile robots, which considers a remote variant-gain impedance is proposed. The analysis considers variant channel time delays and the impedance. For the experiment, an intercontinental teleoperation of a Pioneer 3AT was successfully performed between the National University of San Juan (Argentina) and the University of Verona (Italy), from which results, graphics and conclusions are exposed.

Keywords

Internet; delays; mobile robots; stability; telerobotics; Argentina; Internet; Italy; National University of San Juan; Pioneer 3AT; University of Verona; bilateral mobile robot teleoperation system analysis; bilateral mobile robot teleoperation system experimentation; control scheme experimentation; control scheme stability analysis; intercontinental teleoperation; remote variant-gain impedance; variant-channel time delays; Damping; Internet; Irrigation; Mobile robots; Torque; Vectors; Robot teleoperation; force feedback: human factors; stability;

fLanguage

English

Journal_Title

Latin America Transactions, IEEE (Revista IEEE America Latina)

Publisher

ieee

ISSN

1548-0992

Type

jour

DOI

10.1109/TLA.2014.6948852

Filename

6948852