NDLI: Remote coordinated controls in multiple telerobot cooperation

Content Provider	IEEE Xplore Digital Library
Author	Nak Young Chong Kotoku, T. Ohba, K. Komoriya, K. Matsuhira, N. Tanie, K.
Copyright Year	2000
Description	Author affiliation: Robotics Dept., Mech. Eng. Lab., Tsukuba, Japan (Nak Young Chong)
Abstract	Various coordinated control schemes are explored in the multi-operator-multi-robot (MOMR) tele-collaborative system through a network with time delay. 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 a multi-robot system is 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 a planar block arrangement by two slave arms employing graphic simulators and a LAN subject to a significant communication delay.
Starting Page	3138
Ending Page	3143
File Size	655780
Page Count	6
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.845146
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Delay effects Space technology Control systems Orbital robotics Surgery Manipulators Mechanical engineering Laboratories Multirobot systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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