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FSBEI HPE MSTU Moscow State University of Technology
Registration certificate № FS77-31574 from 4th of April 2008
Issued by Federal Service for Media Law Compliance and Cultural Heritage

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ISSN 2072-3172


Farkhatdinov I G, Poduraev J V

Experimental study of mobile robot bilateral teleoperation with variable force feedback gain

This paper presents new feedback force renderingscheme for bilateral teleoperation ofmobile robot. The problem of reducing teleoperation control by mobile robot position in bilateral systems with feedback force was considered. Previous research indicated that the feedback force based on obstacle range information prevented accurate motion control of the mobile robot since human operator's commands were distorted by the feedback force. обратной связи.To solve this problem, a new force renderingapproach with variable feedback gain is proposed. In the proposed scheme, force feedback gain is adaptively tuned based on measureddistances to the obstacle and time derivatives of the distances. Experimental study showed that the quality of the mobile robot bilateral teleoperation with variable force feedback gain was significantly better than the conventional approach with constant feedback gain. 


Keywords: teleoperation, mobile robot, human-machine interface.

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