Resumen:
The present work presents a bilateral tele-operation scheme for a rotary propeller UAV. The development of the controller is based on the kinematic model of the UAV, and the use of a haptic device for the feedback of forces from the environment to the operator. A learning system is presented to test the controller within a virtual reality environment. The virtual reality environment will allow to evaluate the performance of the robot as close as possible to reality,
therefore, it is provided within the development of the virtual reality environment to have the UAV digitized and with all the characteristics of kinematic and dynamic movement; and with a partially structured environment with obstacles present in the environment that allow to evaluate the operation of the controller by simulation and finally test the tele-operation control experimentally with the rotating propeller robot.
