Bilateral teleoperation of wheeled mobile robot with time delay using virtual image robot

Yasunori Kawai, Toru Namerikawa, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper considers the bilateral teleoperation of wheeled mobile robot with time delay using the virtual image robot. In this paper, we introduce the virtual image robot as a master robot. The human operator commands the virtual image robot, the slave wheeled mobile robot tracks the motion of the virtual image robot. The kinematics and dynamics of master/slave robots is considered. The scattering theory and passivity based control schemes for bilateral teleoperation is applied, the control law is proposed. In the simulation, the performance of the proposed bilateral teleoperation system is verified using wheeled mobile robots.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Control Applications, CCA 2010
Pages77-82
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan
Duration: 2010 Sep 82010 Sep 10

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other2010 IEEE International Conference on Control Applications, CCA 2010
CountryJapan
CityYokohama
Period10/9/810/9/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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  • Cite this

    Kawai, Y., Namerikawa, T., & Fujita, M. (2010). Bilateral teleoperation of wheeled mobile robot with time delay using virtual image robot. In 2010 IEEE International Conference on Control Applications, CCA 2010 (pp. 77-82). [5611232] (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2010.5611232