Teleoperation System Design for a Mobile Robot Using BeagleBone Black Board

This paper proposes the implementation of the teleoperation system for a mobile robot using the BeagleBlack board. The Omnidirectional Mobile Robot represents the master robot, including the copy robot stationed at two distant locations. Both copy robots replicate the pose of the master robots controlled with a human hand. The teleoperation system uses position feedback control and real-time monitoring system powered by the virtual instrumentation and control program, namely Lab View. The communication system is established by the Local Area Network. Three controllers PI, PD, and PID are employed in the teleoperation system to evaluate stability and effectiveness. All three experimental results verify that the teleoperation system designed can be operated and achieved on the Beagle Black Board as well.