INVESTIGADORES
SLAWIÑSKI Emanuel
congresos y reuniones científicas
Título:
Control scheme for delayed bilateral teleoperation of a mobile robot
Autor/es:
EMANUEL SLAWIÑSKI; DIEGO SANTIAGO; VICENTE MUT
Lugar:
Córdoba
Reunión:
Congreso; XVI Reunión de Trabajo en Procesamiento de la Información y Control; 2015
Institución organizadora:
Universidad Nacional de Córdoba y la Universidad Tecnológica Nacional
Resumen:
This paper proposes a modified PD-likecontroller for delayed bilateral teleoperation of amobile robot. The scheme is designed to get a trade-off between transparency and stability, analyzingboth features simultaneously. The correspondinganalysis takes into account the dynamics of themaster and mobile robot as well as asymmetric time-varying delays. Finally, experimental results of abilateral teleoperation including the proposedcontrol scheme are shown in order to quantify theadvantages of using it.
