Latin American applied research
versión impresa ISSN 0327-0793
This paper proposes a stable control structure for 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. Teleoperation experiments through a simulated and real (using Internet) communication channel are presented to illustrate the performance and stability of the proposed control structure.
Palabras clave : Asymptotic Stability; Mobile Robots; Teleoperation; Time Varying Delay.