This item is only available for download by members of the University of Illinois community. Students, faculty, and staff at the U of I may log in with your NetID and password to view the item. If you are trying to access an Illinois-restricted dissertation or thesis, you can request a copy through your library's Inter-Library Loan office or purchase a copy directly from ProQuest.
Permalink
https://hdl.handle.net/2142/87092
Description
Title
Teleoperation of Differential Drive Mobile Robots
Author(s)
Palafox, Oscar Martinez
Issue Date
2008
Doctoral Committee Chair(s)
Spong, Mark W.
Department of Study
Systems and Entrepreneurial Engineering
Discipline
Systems and Entrepreneurial Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Mechanical
Language
eng
Abstract
This work presents control techniques to teleoperate Differential Drive Mobile Robots (DDMRs) over constant time delay with force feedback. Teleoperation of a single and multiple robots is considered. In the case of teleoperation of a single DDMR, two redefinitions of the passivity of the master device are presented. Using this redefinitions of passivity, a teleoperation system that coordinates position signals of the master with velocity of the slave is designed. In the case of multiple slaves, a formation of multiple DDMRs is abstracted to be controlled with two degrees of freedom by the human operator. This is done by using partial feedback linearization of the kinematic model for a DDMR. This control strategy allows to abstract and command the formation velocity or position by automatically designing linear and angular velocities for each robot that satisfy its velocity constraints while keeping a formation. Further, using this formation control scheme and a result on output synchronization over constant time delay, a bilateral teleoperation system is designed and shown to be asymptotically stable. Finally, a software tool for testing teleoperation controls is presented and two example applications are shown. This tool is also used to illustrate performance properties of the teleoperation system for multiple DDMRs described above. Experimental results of single and multiple teleoperated DDMRs are presented.
Use this login method if you
don't
have an
@illinois.edu
email address.
(Oops, I do have one)
IDEALS migrated to a new platform on June 23, 2022. If you created
your account prior to this date, you will have to reset your password
using the forgot-password link below.
