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

被引：20
|
作者：
Slawinski, Emanuel [1 ]
Mut, Vicente [1 ]
Salinas, Lucio [1 ]
Garcia, Sebastian [1 ]
机构：
[1] Univ Nacl San Juan, Inst Automat INAUT, San Juan, Argentina
来源：
ROBOTICA | 2012年 / 30卷
关键词：
Force feedback; Mobile robots; Teleoperation; Time-varying delay; BILATERAL TELEOPERATION; SYSTEMS; STABILITY;
D O I：
10.1017/S0263574711000427
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：67 / 77
页数：11
相关论文
共 50 条
  • [1] Teleoperation of mobile robots with time-varying delay
    Slawinski, Emanuel
    Mut, Vicente
    Postigo, Jose F.
    [J]. ROBOTICA, 2006, 24 : 673 - 681
  • [2] Teleoperation of mobile robots with time-varying delay
    Slawinski, Emanuel
    Mut, Vicente A.
    Postigo, Jose F.
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (05) : 1071 - 1082
  • [3] Teleoperation of Mobile Robots Based on MPC with Time-Varying Delay
    [J]. 1600, Institute of Electrical and Electronics Engineers Inc.
  • [4] Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay
    Slawinski, Emanuel
    Santiago, Diego
    Mut, Vicente
    [J]. IEEE LATIN AMERICA TRANSACTIONS, 2020, 18 (10) : 1777 - 1784
  • [5] Time-varying feedback stabilization of tracked mobile robot
    Ji, M
    Sun, ZG
    Wang, JB
    Chen, Q
    [J]. MOBILE ROBOTS XVI, 2002, 4573 : 227 - 234
  • [6] Design and Research of Time-Varying Delay Teleoperation
    Cui, Yan
    Ju, H. -H.
    Cao, Ping
    Dong, G. -H
    [J]. PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 1666 - 1669
  • [7] Teleoperation via Internet with time-varying delay
    Kamrani, Ehsan.
    Ramazani, A.
    Monteiro, F.
    [J]. 2006 13TH IEEE INTERNATIONAL CONFERENCE ON ELECTRONICS, CIRCUITS AND SYSTEMS, VOLS 1-3, 2006, : 736 - +
  • [8] Bilateral Teleoperation in Cartesian Space with Time-Varying Delay
    Chen, Zhang
    Liang, Bin
    Zhang, Tao
    Wang, Xueqian
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2012, 9
  • [9] Position and force tracking in nonlinear teleoperation systems with sandwich linearity in actuators and time-varying delay
    Ganjefar, Soheil
    Rezaei, Sara
    Hashemzadeh, Farzad
    [J]. MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2017, 86 : 308 - 324
  • [10] Remote control of an omnidirectional mobile robot with time-varying delay and noise attenuation
    Santos, Jessivaldo
    Conceicao, Andre
    Santos, Tito
    Araujo, Humberto
    [J]. MECHATRONICS, 2018, 52 : 7 - 21
12345