PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Autores
Slawiñski, Emanuel; García, Sebastián Ernesto; Salinas, Lucio Rafael; Mut, Vicente Antonio
Año de publicación
2015
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Bilateral Teleoperation
Fictitious Force
Force Feedback
Mobile Robot
Pd-Like Controller
Time Delay
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:11336/4867
Acceder
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network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling PD-like controller with impedance for delayed bilateral teleoperation of mobile robotsSlawiñski, EmanuelGarcía, Sebastián ErnestoSalinas, Lucio RafaelMut, Vicente AntonioBilateral TeleoperationFictitious ForceForce FeedbackMobile RobotPd-Like ControllerTime Delayhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaCambridge University Press2015-04-15info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/4867Slawiñski, Emanuel; García, Sebastián Ernesto; Salinas, Lucio Rafael; Mut, Vicente Antonio; PD-like controller with impedance for delayed bilateral teleoperation of mobile robots; Cambridge University Press; Robotica; 15-4-2015; 1-110263-5747enginfo:eu-repo/semantics/altIdentifier/url/http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9652741&fileId=S0263574715000223info:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/altIdentifier/doi/10.1017/S0263574715000223info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T15:10:44Zoai:ri.conicet.gov.ar:11336/4867instacron: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:34982025-10-15 15:10:44.481CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
title PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
spellingShingle PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
Slawiñski, Emanuel
Bilateral Teleoperation
Fictitious Force
Force Feedback
Mobile Robot
Pd-Like Controller
Time Delay
title_short PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
title_full PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
title_fullStr PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
title_full_unstemmed PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
title_sort PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
dc.creator.none.fl_str_mv Slawiñski, Emanuel
García, Sebastián Ernesto
Salinas, Lucio Rafael
Mut, Vicente Antonio
author Slawiñski, Emanuel
author_facet Slawiñski, Emanuel
García, Sebastián Ernesto
Salinas, Lucio Rafael
Mut, Vicente Antonio
author_role author
author2 García, Sebastián Ernesto
Salinas, Lucio Rafael
Mut, Vicente Antonio
author2_role author
author
author
dc.subject.none.fl_str_mv Bilateral Teleoperation
Fictitious Force
Force Feedback
Mobile Robot
Pd-Like Controller
Time Delay
topic Bilateral Teleoperation
Fictitious Force
Force Feedback
Mobile Robot
Pd-Like Controller
Time Delay
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 control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description This paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.
publishDate 2015
dc.date.none.fl_str_mv 2015-04-15
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/11336/4867
Slawiñski, Emanuel; García, Sebastián Ernesto; Salinas, Lucio Rafael; Mut, Vicente Antonio; PD-like controller with impedance for delayed bilateral teleoperation of mobile robots; Cambridge University Press; Robotica; 15-4-2015; 1-11
0263-5747
url http://hdl.handle.net/11336/4867
identifier_str_mv Slawiñski, Emanuel; García, Sebastián Ernesto; Salinas, Lucio Rafael; Mut, Vicente Antonio; PD-like controller with impedance for delayed bilateral teleoperation of mobile robots; Cambridge University Press; Robotica; 15-4-2015; 1-11
0263-5747
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9652741&fileId=S0263574715000223
info:eu-repo/semantics/altIdentifier/doi/
info:eu-repo/semantics/altIdentifier/doi/10.1017/S0263574715000223
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
dc.publisher.none.fl_str_mv Cambridge University Press
publisher.none.fl_str_mv Cambridge University Press
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 13.22299

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