Coordinated rate control of multiple telerobot systems with time delay

Nak Young Chong, Kohtaro Ohba, Tetsuo Kotoku, Kiyoshi Komoriya, Nobuto Matsuhira, Kazuo Tanie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
PublisherIEEE
Volume5
Publication statusPublished - 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 1999 Oct 121999 Oct 15

Other

Other1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics'
CityTokyo, Jpn
Period99/10/1299/10/15

Fingerprint

Time delay
Robots
Remote control
End effectors
Surgery
Manipulators
Communication
Experiments

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Chong, N. Y., Ohba, K., Kotoku, T., Komoriya, K., Matsuhira, N., & Tanie, K. (1999). Coordinated rate control of multiple telerobot systems with time delay. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 5). IEEE.

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 proceedingConference contribution

Chong, NY, Ohba, K, Kotoku, T, Komoriya, K, Matsuhira, N & Tanie, K 1999, Coordinated rate control of multiple telerobot systems with time delay. in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. vol. 5, IEEE, 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics', Tokyo, Jpn, 99/10/12.
Chong NY, Ohba K, Kotoku T, Komoriya K, Matsuhira N, Tanie K. Coordinated rate control of multiple telerobot systems with time delay. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 5. IEEE. 1999
Chong, Nak Young ; Ohba, Kohtaro ; Kotoku, Tetsuo ; Komoriya, Kiyoshi ; Matsuhira, Nobuto ; Tanie, Kazuo. / Coordinated rate control of multiple telerobot systems with time delay. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 5 IEEE, 1999.
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