Author:
Mut Vicente,Postigo José,Slawiñski Emanuel,Kuchen Benjamin
Abstract
A control structure for the bilateral teleoperation of mobile robots, with tactile feedback and visual information of the interaction force is proposed in this paper. Also an impedance controller is implemented in the mobile robot structure that guarantees the linear velocity be within a desired fixed range without saturation in the actuators. To illustrate the performance of the proposed control structure, experiments on a Pioneer 2 mobile robot teleoperated with a commercial joystick with force feedback are shown.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
9 articles.
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