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HAPTICS
2010
IEEE

Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain

10 years 3 months ago
Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain
Abstract. We analyze the stability of previously proposed mobile robot teleoperation system [7]. Unlike to other approaches human-operator dynamics is included for the stability analysis. Mobile robot teleoperation systems have two major differences when they are compared with conventional bilateral teleoperators: first, rate mode control is used; second, absence of physical interaction of the robot with the environment (except with the ground). Environmental force feedback based on measured distances to the obstacles is considered in the analyzed teleoperation system. Simulations showed advantages and disadvantages of teleoperation with environmental force feedback. It was shown that the quality of position control of mobile robot during teleoperation with previously proposed variable force feedback gain was better than with conventional approach.
Ildar Farkhatdinov, Jee-Hwan Ryu
Added 12 Aug 2010
Updated 12 Aug 2010
Type Conference
Year 2010
Where HAPTICS
Authors Ildar Farkhatdinov, Jee-Hwan Ryu
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