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    PD-like controller for delayed bilateral teleoperation of wheeled robots

    PD-like controller for delayed bilateral teleoperation of wheeled robots

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    This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects. ; Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina ; Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina ; Fil: Santiago, Diego Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina

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    Titel :

    PD-like controller for delayed bilateral teleoperation of wheeled robots

    Beteiligte:
    Slawiñski, Emanuel (Autor:in) / Mut, Vicente Antonio (Autor:in) / Santiago, Diego Daniel (Autor:in)
    Anmerkungen:

    CONICET

    Medientyp :

    Aufsatz (Zeitschrift)

    Format :

    Elektronische Ressource

    Sprache :

    Englisch

    Schlagwörter :

    BILATERAL TELEOPERATION , FORCE FEEDBACK , PD-LIKE CONTROLLER , TIME DELAY , WHEELED DYNAMIC ROBOT , Ingeniería de Sistemas y Comunicaciones , Ingeniería Eléctrica , Ingeniería Electrónica e Ingeniería de la Información , INGENIERÍAS Y TECNOLOGÍAS

    Klassifikation :

    DDC:    629

    Lizenzbestimmungen :

    https://creativecommons.org/licenses/by-nc-sa/2.5/ar/

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