Stable Delayed Bilateral Teleoperation of Mobile Manipulators

Abstract

This paper proposes a control scheme for a stable teleoperation of non-holonomic mobile manipulator robots. This configuration presents high-coupled dynamics and motion redundancy. The problem approached in this work is the teleoperation of the end effector velocity of the Mobile Manipulator, while system redundancy is used to achieve secondary control objectives. We considered variable asymmetric time delays as well as non-passive models of operator and environment. From this study, it is possible to infer the control parameters, depending on the time delay, in order to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through simulations of human-in-the-loop internet teleoperation.