Hybrid Design of Passive Mobile Robot Teleoperation System

摘要

This paper presents a preliminary design of remotely teleoperated vehicle such as mobile robot using haptic device. The perception principle of the slave side is constructed based on the classical Potential Field approach and especially used for detecting the presence of obstacles. A feedback linerization scheme is employed to render the mobile robot to be a passive system. As the interaction with the obstacle based on the potential ¯eld method is passive by nature, with additional assumption that the user is skilled, the connection between the haptic device andthe mobile robot is guaranteed to be stable. In this work, in order to simplify the controller development, no communication channel delay is assumed.