Bilateral teleoperation of mobile robots

被引：12
|
作者：
Mut, V [1 ]
Postigo, J [1 ]
Slawiñski, E [1 ]
Kuchen, B [1 ]
机构：
[1] Univ Nacl San Juan, Inst Automat, San Juan, Argentina
来源：
ROBOTICA | 2002年 / 20卷
关键词：
teleoperation; mobile robots; impedance control; force feedback; sensors;
D O I：
10.1017/S0263574701003769
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：213 / 221
页数：9
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