Análisis y Experimentación de un Sistema de Teleoperación de Robots Móviles sobre Internet (Analysis and Experimentation of a Mobile Robot Teleoperation System over Internet)

Franco Penizzotto (fpenizzotto@inaut.unsj.edu.ar), Emanuel Slawiñski (), Vicente Mut ()


Instituto de Automática (INAUT), Universidad Nacional de San Juan-CONICET
This paper appears in: Revista IEEE América Latina

Publication Date: Oct. 2014
Volume: 12,   Issue: 7 
ISSN: 1548-0992


Abstract:
In this paper, stability analysis and experimentation of a control scheme for bilateral teleoperation of mobile robots, which considers a remote variant-gain impedance is proposed. The analysis considers variant channel time delays and the impedance. For the experiment, an intercontinental teleoperation of a Pioneer 3AT was successfully performed between the National University of San Juan (Argentina) and the University of Verona (Italy), from which results, graphics and conclusions are exposed.

Index Terms:
Robot teleoperation, force feedback: human factors, stability   


Documents that cite this document
This function is not implemented yet.


[PDF Full-Text (490)]