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PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Published online by Cambridge University Press:  15 April 2015

E. Slawiñski ,
S. García ,
L. Salinas  and
V. Mut
E. Slawiñski*
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (Oeste), J5400ARL San Juan, Argentina
S. García
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (Oeste), J5400ARL San Juan, Argentina
L. Salinas
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (Oeste), J5400ARL San Juan, Argentina
V. Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (Oeste), J5400ARL San Juan, Argentina
*
*Corresponding author. E-mail: slawinski@inaut.unsj.edu.ar
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Summary

This paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

Keywords

Bilateral teleoperationFictitious forceForce feedbackMobile robotPD-like controllerTime delay
Type
Articles
Information
Robotica , Volume 34 , Issue 9 , September 2016 , pp. 2151 - 2161
Copyright
Copyright © Cambridge University Press 2015 

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