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 (email@example.com), 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
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.
Robot teleoperation, force feedback: human factors, stability
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