Abstract
In this paper, a collision-free coordinated rate control scheme was discussed for Multi-Operator-Multi-Robot (MOMR) teleoperation using a network with communication time delay. Over the past decades, problems and several noticeable results have been reported mainly in a Single-Operator-Single-Robot (SOSR) teleoperation system. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. Thus, time-delayed control of multi-robot system are highly expected to play an important role in remote operations, too. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, first, the time-delay problems in remote collaboration through MOMR teleoperation were investigated. Then, the scaled rate control method was proposed to cope with the collision arising from the time-delay in MOMR teleoperation system. We scaled down the velocity of the slave end-effector when the possible collision was expected during the collaboration. To verify the validity of the proposed scheme, an experiment on planar block arrangement by two slave manipulators was performed based on simulation models.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Publisher | IEEE |
| Volume | 5 |
| Publication status | Published - 1999 |
| Externally published | Yes |
| Event | 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn Duration: 1999 Oct 12 → 1999 Oct 15 |
Other
| Other | 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' |
|---|---|
| City | Tokyo, Jpn |
| Period | 99/10/12 → 99/10/15 |
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ASJC Scopus subject areas
- Hardware and Architecture
- Control and Systems Engineering
Cite this
Coordinated rate control of multiple telerobot systems with time delay. / Chong, Nak Young; Ohba, Kohtaro; Kotoku, Tetsuo; Komoriya, Kiyoshi; Matsuhira, Nobuto; Tanie, Kazuo.
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 5 IEEE, 1999.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Coordinated rate control of multiple telerobot systems with time delay
AU - Chong, Nak Young
AU - Ohba, Kohtaro
AU - Kotoku, Tetsuo
AU - Komoriya, Kiyoshi
AU - Matsuhira, Nobuto
AU - Tanie, Kazuo
PY - 1999
Y1 - 1999
N2 - In this paper, a collision-free coordinated rate control scheme was discussed for Multi-Operator-Multi-Robot (MOMR) teleoperation using a network with communication time delay. Over the past decades, problems and several noticeable results have been reported mainly in a Single-Operator-Single-Robot (SOSR) teleoperation system. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. Thus, time-delayed control of multi-robot system are highly expected to play an important role in remote operations, too. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, first, the time-delay problems in remote collaboration through MOMR teleoperation were investigated. Then, the scaled rate control method was proposed to cope with the collision arising from the time-delay in MOMR teleoperation system. We scaled down the velocity of the slave end-effector when the possible collision was expected during the collaboration. To verify the validity of the proposed scheme, an experiment on planar block arrangement by two slave manipulators was performed based on simulation models.
AB - In this paper, a collision-free coordinated rate control scheme was discussed for Multi-Operator-Multi-Robot (MOMR) teleoperation using a network with communication time delay. Over the past decades, problems and several noticeable results have been reported mainly in a Single-Operator-Single-Robot (SOSR) teleoperation system. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. Thus, time-delayed control of multi-robot system are highly expected to play an important role in remote operations, too. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, first, the time-delay problems in remote collaboration through MOMR teleoperation were investigated. Then, the scaled rate control method was proposed to cope with the collision arising from the time-delay in MOMR teleoperation system. We scaled down the velocity of the slave end-effector when the possible collision was expected during the collaboration. To verify the validity of the proposed scheme, an experiment on planar block arrangement by two slave manipulators was performed based on simulation models.
UR - http://www.scopus.com/inward/record.url?scp=16744366525&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=16744366525&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:16744366525
VL - 5
BT - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
PB - IEEE
ER -