Resumo

SLAWINSKI, E.; MUT, V.  e  POSTIGO, J. F.. Teleoperation of mobile robots. Lat. Am. appl. res. [online]. 2006, vol.36, n.2, pp.79-86. 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.

Palavras-chave : Asymptotic Stability; Mobile Robots; Teleoperation; Time Varying Delay.

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