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Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay

Slawinski, Emanuel et al · Institute of Electrical and Electronics Engineers · 2020

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Author / responsible party
Slawinski, Emanuel et al
Publisher
Institute of Electrical and Electronics Engineers
Year
2020
ISSN
1777-1784
ISSN
1777-1784
Language
English

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This paper proposes a P+d like control scheme and calibration guidelines addressed to achieve stable dual coordination of force and motion in a bilateral teleoperation system of a mobile robot considering time-varying delays. Different from the state of the art, the proposed scheme achieves a dual coordination combining a relation of linear and nonlinear damping and force feedback gain depending on the human operator parameters and time delays. As a theoretical result, we get that the injected linear damping strongly depends on the time delay, the nonlinear damping compensates the Coriolis forces, while the convergence state depends on the human operator and environment force, but it is independent of the time delay. Finally, a robot teleoperation experiment is carried out to evaluate the performance of force and motion errors obtained in practice. Fil: Slawinski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Santiago, Diego. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina

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APA 7

Slawinski, E. E. A. (2020). Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay. http://hdl.handle.net/11336/143279

MLA

Slawinski, Emanuel et al. "Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay." 2020. http://hdl.handle.net/11336/143279.

Chicago

Slawinski, Emanuel et al. 2020. "Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay.". http://hdl.handle.net/11336/143279.

Harvard

Slawinski, E. E. A. 2020, Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay, Institute of Electrical and Electronics Engineers, available at: http://hdl.handle.net/11336/143279 [Accessed 6 Aug. 2026].

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Title
Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay
Author / contributors
Slawinski, Emanuel et al
Publisher
Institute of Electrical and Electronics Engineers
Publication year
2020
ISSN
1777-1784
ISSN
1777-1784
Language
English

Subjects

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BILATERAL TELEOPERATION; FORCE FEEDBACK; FORCE-VELOCITY COORDINATION; MOBILE ROBOT; TIME DELAY; https://purl.org/becyt/ford/2.2; https://purl.org/becyt/ford/2
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