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Teleoperation of mobile robots with time-varying delay

Published online by Cambridge University Press:  17 May 2006

Emanuel Slawiñski ,
Vicente Mut  and
José F. Postigo
Emanuel Slawiñski
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan (Argentina)
Vicente Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan (Argentina)
José F. Postigo
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan (Argentina)
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Abstract

This paper proposes a stable control structure for the bilateral teleoperation of mobile robots. The proposed control structure includes a time-delay compensation placed on both the local and remote sites of the teleoperation system. To illustrate the performance and stability of the proposed control structure, experiences on a Pioneer 2DX mobile robot teleoperated through a commercial joystick with visual feedback, are shown.

Keywords

Asymptotic stabilityMobile robotsTeleoperationTime-varying delay
Type
Article
Information
Robotica , Volume 24 , Issue 6 , November 2006 , pp. 673 - 681
Copyright
2006 Cambridge University Press

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