Abstract
In this paper, various coordinated control schemes are explored in the Multi-Operator-Multi-Robot (MOMR) tele-collaborative system through a network with time delay. Recently, the multi-robot cooperation has rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because it would have a significant advantage over a single robot in such cases. Thus, time-delayed control of multi-robot system is highly expected to play an important role in remote operations, too. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, we have built an experimental system to investigate the remote cooperation in MOMR teleoperation. Then, different coordinated control methods are proposed to cope with the collision arising from the time delay over the network. To verify the validity of the proposed schemes, we have carried out various experiments on planar block arrangement by two slave arms employing graphic simulators and a LAN subject to a significant communication delay.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 3138-3143 |
| Number of pages | 6 |
| Volume | 4 |
| Publication status | Published - 2000 |
| Externally published | Yes |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 2000 Apr 24 → 2000 Apr 28 |
Other
| Other | ICRA 2000: IEEE International Conference on Robotics and Automation |
|---|---|
| City | San Francisco, CA, USA |
| Period | 00/4/24 → 00/4/28 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Remote coordinated controls in multiple telerobot cooperation. / Chong, Nak Young; Kotoku, Tetsuo; Ohba, Kohtaro; Komoriya, Kiyoshi; Matsuhira, Nobuto; Tanie, Kazuo.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2000. p. 3138-3143.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Remote coordinated controls in multiple telerobot cooperation
AU - Chong, Nak Young
AU - Kotoku, Tetsuo
AU - Ohba, Kohtaro
AU - Komoriya, Kiyoshi
AU - Matsuhira, Nobuto
AU - Tanie, Kazuo
PY - 2000
Y1 - 2000
N2 - In this paper, various coordinated control schemes are explored in the Multi-Operator-Multi-Robot (MOMR) tele-collaborative system through a network with time delay. Recently, the multi-robot cooperation has rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because it would have a significant advantage over a single robot in such cases. Thus, time-delayed control of multi-robot system is highly expected to play an important role in remote operations, too. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, we have built an experimental system to investigate the remote cooperation in MOMR teleoperation. Then, different coordinated control methods are proposed to cope with the collision arising from the time delay over the network. To verify the validity of the proposed schemes, we have carried out various experiments on planar block arrangement by two slave arms employing graphic simulators and a LAN subject to a significant communication delay.
AB - In this paper, various coordinated control schemes are explored in the Multi-Operator-Multi-Robot (MOMR) tele-collaborative system through a network with time delay. Recently, the multi-robot cooperation has rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because it would have a significant advantage over a single robot in such cases. Thus, time-delayed control of multi-robot system is highly expected to play an important role in remote operations, too. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, we have built an experimental system to investigate the remote cooperation in MOMR teleoperation. Then, different coordinated control methods are proposed to cope with the collision arising from the time delay over the network. To verify the validity of the proposed schemes, we have carried out various experiments on planar block arrangement by two slave arms employing graphic simulators and a LAN subject to a significant communication delay.
UR - http://www.scopus.com/inward/record.url?scp=0033692498&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033692498&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0033692498
VL - 4
SP - 3138
EP - 3143
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -