CONICET | Buscador de Institutos y Recursos Humanos

This paper proposes a modified PD-like controller for delayed bilateral teleoperation of a mobile robot. The scheme is designed to get a tradeoff between transparency and stability, analyzing both features simultaneously. The corresponding analysis takes into account the dynamics of the master and mobile robot as well as asymmetric timevarying delays. Finally, experimental results of abilateral teleoperation including the proposed control scheme are shown in order to quantify the advantages of using it.