Teleoperation of Mobile Robot Using Event Based Controller and Real Time Force Feedback

Event based controller has been implemented to teleoperate the real mobile robot efficiently. The system consists of master haptic device, slave robot and a communication network. On master side with the help of visual aid and real time force feedback acting on the robot the operator control and navigate the robot and receive sensory feedback. Environmental force which is acting on slave robot is modeled as virtual force based on obstacles in front of mobile robot using proximity sensors and it has been reflected to human operator in real time using perditor block. Thus the operator can feel that he is driving the robot like a car while he is present at remote location. The designed controller shows the excellent coordination between master haptic device and slave robot. The slave robot follows the master device and communication delay has no effect on the performance and stability of teleoperated robot. Keywords— teleoperation; event based controller; force feedback; haptic device