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

Yasunori Kawai, Toru Namerikawa, Masayuki Fujita

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Control Applications, CCA 2010
ページ77-82
ページ数6
DOI
出版ステータスPublished - 2010 12 1
イベント2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan
継続期間: 2010 9 82010 9 10

出版物シリーズ

名前Proceedings 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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