PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

dc.creatorSlawiñski, Emanuel
dc.creatorGarcía, Sebastián Ernesto
dc.creatorSalinas, Lucio Rafael
dc.creatorMut, Vicente Antonio
dc.date.accessioned2016-03-18T20:19:33Z
dc.date.accessioned2018-11-06T14:08:27Z
dc.date.available2016-03-18T20:19:33Z
dc.date.available2018-11-06T14:08:27Z
dc.date.created2016-03-18T20:19:33Z
dc.date.issued2015-04-15
dc.identifierSlawiñski, Emanuel; García, Sebastián Ernesto; Salinas, Lucio Rafael; Mut, Vicente Antonio; PD-like controller with impedance for delayed bilateral teleoperation of mobile robots; Cambridge University Press; Robotica; 15-4-2015; 1-11
dc.identifier0263-5747
dc.identifierhttp://hdl.handle.net/11336/4867
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/1883243
dc.description.abstractThis paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.
dc.languageeng
dc.publisherCambridge University Press
dc.relationinfo:eu-repo/semantics/altIdentifier/url/http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9652741&fileId=S0263574715000223
dc.relationinfo:eu-repo/semantics/altIdentifier/doi/10.1017/S0263574715000223
dc.relationinfo:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1017/S0263574715000223
dc.rightshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subjectBilateral teleoperation
dc.subjectFictitious force
dc.subjectForce feedback
dc.subjectMobile robot
dc.subjectPD-like controller
dc.subjectTime delay
dc.titlePD-like controller with impedance for delayed bilateral teleoperation of mobile robots
dc.typeArtículos de revistas
dc.typeArtículos de revistas
dc.typeArtículos de revistas


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