Bilateral Teleoperation of Wheeled Mobile Robot with Time Delay using Virtual Image Robot

被引：5
|
作者：
Kawai, Yasunori [1 ]
Namerikawa, Toru [2 ]
Fujita, Masayuki [3 ]
机构：
[1] Ishikawa Natl Coll Technol, Dept Elect Engn, Ta 1 Kitachujo, Tsubata, Ishikawa 9200392, Japan
[2] Keio Univ, Dept Syst Design Engn, Kohoku ku, Yokohama, Kanagawa 2238522, Japan
[3] Tokyo Inst Technol, Dept Mech & Control Engn, Tokyo 1528550, Japan
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS | 2010年
关键词：
D O I：
10.1109/CCA.2010.5611232
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers the bilateral teleoperation of wheeled mobile robot with time delay using the virtual image robot. In this paper, we introduce the virtual image robot as a master robot. The human operator commands the virtual image robot, the slave wheeled mobile robot tracks the motion of the virtual image robot. The kinematics and dynamics of master/slave robots is considered. The scattering theory and passivity based control schemes for bilateral teleoperation is applied, the control law is proposed. In the simulation, the performance of the proposed bilateral teleoperation system is verified using wheeled mobile robots.
引用
收藏
页码：77 / 82
页数：6
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