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Abstract
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| This chapter proposes a first design of a bilateral teleoperation system for a mini-helicopter in which forward and backward delays between local and remote site are considered, along with the human operator reaction delay. The proposed system includes a command delay compensation on the remote site in order to modify the reference command generated by the human operator in the local site, which was proposed based on past information (due to delay), this correction can generate references that consider the human operator¿s intention, but also incorporate current situations which are not considered by the operator. Teleoperation simulations are presented to illustrate the performance of the proposed control system. | |
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International
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No |
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Book Edition
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0 |
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Book Publishing
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ISBN
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978-84-614-5558-4 |
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Series
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Book title
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Robots de Exteriores |
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From page
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249 |
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To page
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269 |