BILATERAL TELEOPERATION OF MOBILE ROBOTS THROUGH INTERNET

EMANUEL SLAWIÑSKI; JOSÉ POSTIGO; VICENTE MUT; CARLOS SORIA

Bologna, Italy

Simposio; 8th International IFAC Symposium on Robot Control SYROCO 2006; 2006

IFAC

This paper addresses a stable control structure for the bilateral teleoperation of mobile robots with visual feedback in presence of time-varying delay. The proposed control structure uses estimated parameters of the human operator and a fictitious force which is calculated using data fusion from ultrasonic sensors and optical flow field from panoramic images. To illustrate the performance and stability of the proposed control structure, several teleoperation experiments between Argentina and Brazil linked via Internet are shown.