Abstract
This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator’s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.
Highlights
Robot teleoperation allows the execution of different tasks in remote environments including possibly dangerous and harmful jobs for the human operator [1]
This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator’s command execution
The work has presented a bilateral teleoperation controller for wheeled robots under time delays, in which the master controller is a PD-like scheme with gravity compensation and the slave controller is a scheme that incorporates an impedance compensation based on fictitious force and a variable gain, employed for obstacle avoidance
Summary
Robot teleoperation allows the execution of different tasks in remote environments including possibly dangerous and harmful jobs for the human operator [1]. [27] states that many serious accidents, in which human error has been involved, can be attributed to faulty operator decision making In this context, an operator can correctly select the actions but executes them poorly by overcorrecting, losing control, or flipping the commands. This work presents a novel method to assist operators of a remote mobile robot in driving task. The controller is tested from experiences over a virtual environment (Human in the Loop tests), in which a user drives a mobile robot teleoperated in presence of time delay, avoiding obstacles and feeling the force executed by the robot.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
