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

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.Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentin

Event Based Methodology for SuperMedia Enhanced Teleoperation

SuperMedia provides human operators rich environmental information, thus providing telepresence and enhances efficiency of operation. However, coupling human with the remote environment via SuperMedia over the Internet poses challenges for the design of bilateral teleoperator. These challenges relate to the issues of stability, transparency and synchronization. This paper explores a novel methodology to deal with these difficulties. The method proposed is quite different from traditional methodologies. Instead of using time as motion reference for the control and sensor signals, the method, called event based methodology choose another motion reference which can efficiently carry the sensory information of teleoperator. This method can guarantee the stability of teleoperator without any knowledge of delay since the signals are all referenced with the one which is different from time. Furthermore, stability of the system is independent on the dynamic model of human operator and environment. In this paper, analysis and design of event based methodology for the SuperMedia enhanced Internet-based teleoperation are described. Stability of teleoperator system is proved and stability conditions are also given. The algorithm is verified by a simulation and results demonstrate the effectiveness of this methodology. ©2006 IEEE.Link_to_subscribed_fulltex