Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots

EMANUEL SLAWIÑSKI; VICENTE MUT; PAOLO FIORINI; LUCIO SALINAS

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Año: 2012 vol. 42 p. 430 - 442

1083-4427

This paper proposes a new criterion, called absolute transparency, to design control schemes applied to bilateral teleoperation of mobile robots with time-varying delay. The absolute transparency measures how and how fast the human operator and the remote system interact with each other through a teleoperation system. The absolute transparency of different control schemes is analyzed and tested through teleoperation experiments where a human operator drives a mobile robot and receives both visual and force feedback.