Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay


  • Emanuel Slawiñski INAUT (UNSJ-CONICET) https://orcid.org/0000-0002-9828-4595
  • Diego Santiago Instituto de Automática (INAUT) - Universidad Nacional de San Juan - CONICET
  • Vicente Mut Instituto de Automática (INAUT) - Universidad Nacional de San Juan - CONICET


Bilateral teleoperation, force-velocity coordination, force feedback, mobile robot, time delay


This paper proposes a P+d like control scheme and calibration guidelines addressed to achieve stable dual coordination of force and motion in a bilateral teleoperation system of a mobile robot considering time-varying delays. Different from the state of the art, the proposed scheme achieves a dual coordination combining a relation of linear and nonlinear damping and force feedback gain depending on the human operator parameters and time delays. As a theoretical result, we get that the injected linear damping strongly depends on the time delay, the nonlinear damping compensates the Coriolis forces, while the convergence state depends on the human operator and environment force, but it is independent of the time delay. Finally, a robot teleoperation experiment is carried out to evaluate the performance of force and motion errors obtained in practice.


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Author Biographies

Emanuel Slawiñski, INAUT (UNSJ-CONICET)

Emanuel Slawiñski nació en Chubut, Argentina, el 5 de noviembre de 1975. Alcanzó el grado académico de doctor en Ingeniería de Sistemas de Control en el año 2006 en la UNSJ, San Juan, Argentina. Actualmente es profesor titular exclusivo de la UNSJ en grado y postgrado e investigador independiente de CONICET. Sus áreas de interés son sistemas de teleoperación con retardos de tiempos, factores humanos e interacción humano-robot, sistemas hápticos, control de robots humanoides y desarrollo de software para robótica.

Diego Santiago, Instituto de Automática (INAUT) - Universidad Nacional de San Juan - CONICET

Diego D. Santiago nació en San Juan, Argentina, el 18 de enero de 1988; se graduó de Ingeniero Electrónico y Doctor en Ingeniería de Sistemas de Control en la UNSJ, en los años 2012 y 2017 respectivamente . Actualmente es profesor en la UNSJ y becario postdoctoral de CONICET. Sus áreas de interés son: robótica, teleoperación, sistemas hápticos y humano-robot, control de sistemas redundantes, inteligencia artificial y software de ingeniería.

Vicente Mut, Instituto de Automática (INAUT) - Universidad Nacional de San Juan - CONICET

Vicente A. Mut nació en San Juan, Argentina, el 1 de diciembre de 1962; se graduó de Ingeniero y Doctor en la UNSJ en los años 1987 y 1995. Es profesor de la UNSJ en las carreras de grado y postgrado en Ingeniería e investigador CONICET. Actualmente es el director del Instituto de Automática, UNSJ-CONICET. Sus áreas de interés son robótica y teoría de sistemas de control.


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How to Cite

Slawiñski, E., Santiago, D., & Mut, V. (2021). Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay. IEEE Latin America Transactions, 18(10), 1777–1784. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/3576

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