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

Yasunori Kawai; Toru Namerikawa; Masayuki Fujita

doi:10.1109/CCA.2010.5611232

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

Yasunori Kawai, Toru Namerikawa, Masayuki Fujita

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 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 language	English
Title of host publication	2010 IEEE International Conference on Control Applications, CCA 2010
Pages	77-82
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.2010.5611232
Publication status	Published - 2010 Dec 1
Event	2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan Duration: 2010 Sept 8 → 2010 Sept 10

Publication series

Name	Proceedings of the IEEE International Conference on Control Applications

Other

Other	2010 IEEE International Conference on Control Applications, CCA 2010
Country/Territory	Japan
City	Yokohama
Period	10/9/8 → 10/9/10

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

Access to Document

10.1109/CCA.2010.5611232

Cite this

Bilateral teleoperation of wheeled mobile robot with time delay using virtual image robot. / Kawai, Yasunori; Namerikawa, Toru; Fujita, Masayuki.
2010 IEEE International Conference on Control Applications, CCA 2010. 2010. p. 77-82 5611232 (Proceedings of the IEEE International Conference on Control Applications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 5611232, Proceedings of the IEEE International Conference on Control Applications, pp. 77-82, 2010 IEEE International Conference on Control Applications, CCA 2010, Yokohama, Japan, 10/9/8. https://doi.org/10.1109/CCA.2010.5611232

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AB - 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.

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

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