José F. Postigo

Learn More
This paper proposes a stable control scheme for teleoperation of mobile robots with visual feedback in presence of time-varying delay. The proposed control scheme is based on using a model of the human operator to combine (on the remote site) the velocity command generated by the human operator in a delayed time instant, the received information (which(More)
This paper proposes a stable control scheme for bilateral teleoperation of mobile robots in presence of obstacles and time-varying delay. The proposed control scheme is composed by a velocity controller on board the mobile robot and a time-delay compensation placed on both the local and remote sites of the teleoperation system. Finally, experiments on a(More)
The stability analysis of a two-degree-of freedom teleoperation system, considering the remote station as a non-linear system, is presented. The non-linearity arises in the remote robot's model. Force and position data are backfed from the local to the remote station. The time delay between both stations is fixed and known. A model of the human operator is(More)
In this paper a time delay compensation control structure for a robot teleoperation system is presented. The structure design was made considering 1.9-seconds time delay in the communication between the remote and local stations. The objective is to control both the remote manipulator's position and force. Force and position signals are fedback to the local(More)
The integration of force feedback with a complete real-time virtual environment system shows some more difficult problems than those found in building a typical force feedback system. Particularly, bulky computations for graphics or simulation require decoupling the haptic servo-loop from the main application loop if high-quality forces (realistic) are to(More)