INVESTIGADORES
SLAWIÑSKI Emanuel
congresos y reuniones científicas
Título:
TELEOPERATION AND IMPEDANCE CONTROL OF MOBILE ROBOTS
Autor/es:
VICENTE MUT; JOSÉ POSTIGO; EMANUEL SLAWIÑSKI; BENJAMÍN KUCHEN
Lugar:
Santa Fe, Argentina
Reunión:
Congreso; IX Reunión de Trabajo en Procesamiento de la Información y Control; 2001
Resumen:
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.
