Bilateral teleoperation of mobile robots

A control structure for the bilateral teleoperation of mobile robots, with tactile feedback and visual information of the interaction force is proposed in this paper. Also an impedance controller is implemented in the mobile robot structure that guarantees the linear velocity be within a desired fix...

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Bibliographic Details
Published in:Robotica 2002-03, Vol.20 (2), p.213-221
Main Authors: Mut, Vicente, Postigo, José, Slawiñski, Emanuel, Kuchen, Benjamin
Format: Article
Language:English
Subjects:
Force feedback
Impedance control
Mobile robots
Sensors
Teleoperation
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Summary:A control structure for the bilateral teleoperation of mobile robots, with tactile feedback and visual information of the interaction force is proposed in this paper. Also an impedance controller is implemented in the mobile robot structure that guarantees the linear velocity be within a desired fixed range without saturation in the actuators. To illustrate the performance of the proposed control structure, experiments on a Pioneer 2 mobile robot teleoperated with a commercial joystick with force feedback are shown.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574701003769