Teleoperación con realimentación de fuerza aplicada a un robot móvil con restricción no-holonómica

Abstract

In this project a teleoperation system with force feedback of a non-holonomic unicycle robot is designed, by the analysis and selection of a kinematic and dynamic model, the latter being configured and validated for the mobile robot to be used. Whereby the control laws for teleoperation are posed and their stability is demonstrated by Lyapunov theory. Obstacle avoidance is performed by analyzing the interaction with the environment to generate forces which are fed back to the user via the haptic device, at this point a dynamic environment that allows the forces fed back to be perceived in a better way by the user is implemented. This haptic device serves also to interpret the intention of the user during teleoperation and a dynamic of the system is applied by the definition of mechanical impedance for a more intuitive operation.