Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain

We analyze the stability of previously proposed mobile robot teleoperation system [7]. Unlike to other approaches human-operator dynamics is included for the stability analysis. Mobile robot teleoperation systems have two major differences when they are compared with conventional bilateral teleoperators: first, rate mode control is used; second, absence of physical interaction of the robot with the environment (except with the ground). Environmental force feedback based on measured distances to the obstacles is considered in the analyzed teleoperation system. Simulations showed advantages and disadvantages of teleoperation with environmental force feedback. It was shown that the quality of position control of mobile robot during teleoperation with previously proposed variable force feedback gain was better than with conventional approach.