Open AccessKinematic bilateral teleoperation of wheeled mobile robots subject to longitudinal slippage
Author(s) -
Li Weihua,
Ding Liang,
Gao Haibo,
Tavakoli Mahdi
Publication year - 2016
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2015.0229
Subject(s) - teleoperation , slippage , haptic technology , kinematics , mobile robot , controller (irrigation) , acceleration , robot , computer science , simulation , control theory (sociology) , engineering , control engineering , control (management) , artificial intelligence , physics , structural engineering , classical mechanics , agronomy , biology
With the widespread use of wheeled mobile robots (WMRs) in various applications, new challenges have arisen in terms of designing its control system. One of such challenges is caused by wheel slippage. This study proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage (not including sliding). In this teleoperation system, the mobile robot's linear velocity follows the master haptic interface's position. The proposed teleoperation controller also includes an acceleration‐level control law for the mobile robot such that the velocity loss caused by slippage is compensated for. Information about the magnitude and timing of slippage is displayed to the human operator through haptic (force) feedback. Despite the functional benefits of displaying slippage information as haptic feedback to the user, there are system stability related concerns that have been addressed using the proposed controller. Experiments of the proposed controller demonstrate that it results in stable bilateral teleoperation with a satisfactory tracking performance.