This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator`s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed. ; Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina ; Fil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina ; Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina ; Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
1563-5147
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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