Experimentation of a Mobile Robot Teleoperation System over Internet

FRANCO PENIZZOTTO; EMANUEL SLAWIÑSKI; VICENTE MUT

IEEE LATIN AMERICA TRANSACTIONS

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Lugar: New York; Año: 2014 vol. 12 p. 1191 - 1198

1548-0992

In this paper, stability analysis and experimentation of a control scheme for bilateral teleoperation of mobile robots, which considers a remote variant-gain impedance is proposed. The analysis considers variant channel time delays and the impedance. For the experiment, an intercontinental teleoperation of a Pioneer 3AT was successfully performed between the National University of San Juan (Argentina) and the University of Verona (Italy), from which results, graphics and conclusions are exposed.