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Teleoperation of a mobile robot with time-varying delay and force feedback

Published online by Cambridge University Press:  26 April 2011

Emanuel Slawiñski ,
Vicente Mut ,
Lucio Salinas  and
Sebastian García
Emanuel Slawiñski*
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan., Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina E-mails: vmut@inaut.unsj.edu.ar, lsalinas@inaut.unsj.edu.ar, sgarcia@inaut.unsj.edu.ar
Vicente Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan., Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina E-mails: vmut@inaut.unsj.edu.ar, lsalinas@inaut.unsj.edu.ar, sgarcia@inaut.unsj.edu.ar
Lucio Salinas
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan., Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina E-mails: vmut@inaut.unsj.edu.ar, lsalinas@inaut.unsj.edu.ar, sgarcia@inaut.unsj.edu.ar
Sebastian García
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan., Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina E-mails: vmut@inaut.unsj.edu.ar, lsalinas@inaut.unsj.edu.ar, sgarcia@inaut.unsj.edu.ar
*
*Corresponding author. E-mail: slawinski@inaut.unsj.edu.ar
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Summary

This paper proposes a prediction system and a command fusion to help the human operator in a teleoperation system of a mobile robot with time-varying delay and force feedback. The command fusion is used to join a remote controller and the delayed user's commands. Besides, a predictor is proposed since the future trajectory of the mobile robot is not known a priori being it decided online by the user. The command fusion and predictor are designed based on the time delay and the current context measured through the crash probability. Finally, the proposed scheme is tested from teleoperation experiments considering time-varying delay as well as force feedback.

Keywords

Force feedbackMobile robotsTeleoperationTime-varying delay
Type
Articles
Information
Robotica , Volume 30 , Issue 1 , January 2012 , pp. 67 - 77
Copyright
Copyright © Cambridge University Press 2011

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