PD-like controller with impedance for delayed bilateral teleoperation of mobile robots. Issue 9 (15th April 2015)

• Record Type: Journal Article
• Authors: Slawiñski, E.; García, S.; Salinas, L.; Mut, V.
• Is Part Of: Robotica. Volume 34:Issue 9(2016)
• Page Start: 2151
• Page End: 2161
• Publication Date: 2015-04-15
• Subjects: Bilateral teleoperation, -- Fictitious force, -- Force feedback, -- Mobile robot, -- PD-like controller, -- Time delay; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574715000223
• Languages: English
• ISSNs: 0263-5747

Abstract

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.