PD-like controller for delayed bilateral teleoperation of wheeled robots

Autores
Slawiñski, Emanuel; Mut, Vicente Antonio; Santiago, Diego Daniel
Año de publicación
2016
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Santiago, Diego Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
BILATERAL TELEOPERATION
FORCE FEEDBACK
PD-LIKE CONTROLLER
TIME DELAY
WHEELED DYNAMIC ROBOT
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/61279
Acceder
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spelling PD-like controller for delayed bilateral teleoperation of wheeled robotsSlawiñski, EmanuelMut, Vicente AntonioSantiago, Diego DanielBILATERAL TELEOPERATIONFORCE FEEDBACKPD-LIKE CONTROLLERTIME DELAYWHEELED DYNAMIC ROBOThttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Santiago, Diego Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaTaylor & Francis Ltd2016-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/61279Slawiñski, Emanuel; Mut, Vicente Antonio; Santiago, Diego Daniel; PD-like controller for delayed bilateral teleoperation of wheeled robots; Taylor & Francis Ltd; International Journal Of Control; 89; 8; 8-2016; 1622-16310020-71791366-5820CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1080/00207179.2016.1144234info:eu-repo/semantics/altIdentifier/url/https://www.tandfonline.com/doi/abs/10.1080/00207179.2016.1144234info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:39:31Zoai:ri.conicet.gov.ar:11336/61279instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:39:32.263CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv PD-like controller for delayed bilateral teleoperation of wheeled robots
title PD-like controller for delayed bilateral teleoperation of wheeled robots
spellingShingle PD-like controller for delayed bilateral teleoperation of wheeled robots
Slawiñski, Emanuel
BILATERAL TELEOPERATION
FORCE FEEDBACK
PD-LIKE CONTROLLER
TIME DELAY
WHEELED DYNAMIC ROBOT
title_short PD-like controller for delayed bilateral teleoperation of wheeled robots
title_full PD-like controller for delayed bilateral teleoperation of wheeled robots
title_fullStr PD-like controller for delayed bilateral teleoperation of wheeled robots
title_full_unstemmed PD-like controller for delayed bilateral teleoperation of wheeled robots
title_sort PD-like controller for delayed bilateral teleoperation of wheeled robots
dc.creator.none.fl_str_mv Slawiñski, Emanuel
Mut, Vicente Antonio
Santiago, Diego Daniel
author Slawiñski, Emanuel
author_facet Slawiñski, Emanuel
Mut, Vicente Antonio
Santiago, Diego Daniel
author_role author
author2 Mut, Vicente Antonio
Santiago, Diego Daniel
author2_role author
author
dc.subject.none.fl_str_mv BILATERAL TELEOPERATION
FORCE FEEDBACK
PD-LIKE CONTROLLER
TIME DELAY
WHEELED DYNAMIC ROBOT
topic BILATERAL TELEOPERATION
FORCE FEEDBACK
PD-LIKE CONTROLLER
TIME DELAY
WHEELED DYNAMIC ROBOT
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Santiago, Diego Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.
publishDate 2016
dc.date.none.fl_str_mv 2016-08
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/61279
Slawiñski, Emanuel; Mut, Vicente Antonio; Santiago, Diego Daniel; PD-like controller for delayed bilateral teleoperation of wheeled robots; Taylor & Francis Ltd; International Journal Of Control; 89; 8; 8-2016; 1622-1631
0020-7179
1366-5820
CONICET Digital
CONICET
url http://hdl.handle.net/11336/61279
identifier_str_mv Slawiñski, Emanuel; Mut, Vicente Antonio; Santiago, Diego Daniel; PD-like controller for delayed bilateral teleoperation of wheeled robots; Taylor & Francis Ltd; International Journal Of Control; 89; 8; 8-2016; 1622-1631
0020-7179
1366-5820
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1080/00207179.2016.1144234
info:eu-repo/semantics/altIdentifier/url/https://www.tandfonline.com/doi/abs/10.1080/00207179.2016.1144234
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Taylor & Francis Ltd
publisher.none.fl_str_mv Taylor & Francis Ltd
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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