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Experimental analysis of mobile-robot teleoperation via shared impedance control
Farrokh Janabi-Sharifi1, Iraj Hassanzadeh
1Robotics, Mechatronics, and Manufacturing Automation Laboratory, Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON M5B2K3, Canada. fsharifi@ryerson.ca
Summary
This study analyzes Internet-based teleoperation for mobile robot obstacle avoidance. Findings offer guidelines for designing effective teleoperation systems by examining factors like time delay and force reflection.
Area of Science:
- Robotics
- Human-Computer Interaction
- Control Systems
Background:
- Internet-based teleoperation enables remote control of mobile robots.
- Obstacle avoidance is a critical challenge in mobile robot navigation.
- Optimizing teleoperation parameters is essential for efficient remote operation.
Purpose of the Study:
- To analyze Internet-based teleoperation for mobile robot obstacle avoidance.
- To evaluate the impact of various teleoperation parameters on performance.
- To propose and assess a fuzzy force-reflection controller.
Main Methods:
- A shared impedance-control scheme was implemented.
- Experimental study investigated time delay, operator training, image display (virtual vs. real), viewpoint, and force reflection.
- A fuzzy force-reflection controller was compared to a proportional-derivative (PD) controller.
- MATLAB XPC Target and Simulink were used for the experimental setup.
Main Results:
- Teleoperation parameters significantly affect obstacle avoidance performance.
- The fuzzy force-reflection controller demonstrated comparable or improved performance over the PD controller.
- Quantitative and qualitative measures were used to assess the effects of different parameters.
Conclusions:
- The study provides valuable insights into optimizing teleoperation systems for mobile robot obstacle avoidance.
- Results can guide the design of future teleoperation systems and suggest areas for further research.
- Understanding the influence of parameters like time delay and force feedback is crucial for effective remote robot control.
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