Tele-operated trajectory tracking of differential drive wheeled mobile robot using haptic robot

Abstract

Tele-operation is a kind of semi-autonomous system, with the objective of allowing human to control a device in remote location. This paper proposes such a system implemented with Omni Bundle haptic device and Q-Bot 2 Mobile Robot platforms connected in a master-slave configuration respectively. The paper also provides modelling, trajectory tracking controller for both robots and communication algorithm that takes place between them, in real time with experimental results.