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Bilateral teleoperation of mobile robots

Published online by Cambridge University Press:  09 April 2002

Vicente Mut ,
José Postigo ,
Emanuel Slawiñski  and
Benjamin Kuchen
Vicente Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. San Martín-Oeste-11O9, J5400ARL - San Juan (Argentina), vmut@inaut.unsj.edu.ar
José Postigo
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. San Martín-Oeste-11O9, J5400ARL - San Juan (Argentina), vmut@inaut.unsj.edu.ar
Emanuel Slawiñski
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. San Martín-Oeste-11O9, J5400ARL - San Juan (Argentina), vmut@inaut.unsj.edu.ar
Benjamin Kuchen
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. San Martín-Oeste-11O9, J5400ARL - San Juan (Argentina), vmut@inaut.unsj.edu.ar
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Abstract

A control structure for the bilateral teleoperation of mobile robots, with tactile feedback and visual information of the interaction force is proposed in this paper. Also an impedance controller is implemented in the mobile robot structure that guarantees the linear velocity be within a desired fixed range without saturation in the actuators. To illustrate the performance of the proposed control structure, experiments on a Pioneer 2 mobile robot teleoperated with a commercial joystick with force feedback are shown.

Keywords

TeleoperationMobile robotsImpedance controlForce feedbackSensors
Type
Research Article
Information
Robotica , Volume 20 , Issue 2 , March 2002 , pp. 213 - 221
Copyright
© 2002 Cambridge University Press

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