Año: 2017
Autores: Slawiñski, E.; Mut, V.;
Resumen: This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. The dynamics of two manipulator-like masters and mobile robot as well as time- varying and asymmetric delays are taken into account. A set of P+d controllers is included into the delayed teleoperation system. From the analysis performed, a procedure to set the control parameters is proposed in order to assure the stability of the whole system. Finally, the theoretical result is verified in practice by means of a simple test about delayed trilateral teleoperation system, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote environment.
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Link: https://www.frc.utn.edu.ar/jar2017/