Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Telerobotics, automation, and human supervisory control
Telerobotics, automation, and human supervisory control
Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Remote Control Robotics
Feedback Systems: Input-Output Properties
Feedback Systems: Input-Output Properties
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A control structure for the bilateral teleoperation of mobile robots, with tactile feedback and visual information of the interaction force is proposed in this paper. Also an impedance controller is implemented in the mobile robot structure that guarantees the linear velocity be within a desired fixed range without saturation in the actuators. To illustrate the performance of the proposed control structure, experiments on a Pioneer 2 mobile robot teleoperated with a commercial joystick with force feedback are shown.