Trilateral Teleoperation with Delay of a Mobile Robot

Abstract

This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. The dynamics of two manipulator-like masters and mobile robot as well as time-varying and asymmetric delays are taken into account. A set of P+d controllers is included into the delayed teleoperation system. From the analysis performed, a procedure to set the control parameters is proposed in order to assure the stability of the whole system. Finally, the theoretical result is verified in practice by means of a simple test about delayed trilateral teleoperation system, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote environment.