This paper proposes a stable control structure for the bilateral teleoperation of mobile robots. The proposed control structure includes a time-delay compensation placed on both the local and remote sites of the teleoperation system. To illustrate the performance and stability of the proposed control structure, experiences on a Pioneer 2DX mobile robot teleoperated through a commercial joystick with visual feedback, are shown.
No takes yet. Share an insight, caveat, or question.
Slawiñski et al. (2006) studied this question.
Synapse has enriched 5 related papers. Consider them for comparative context: