Name
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 |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1109/ROBOT.2000.845146 | ICRA |
Keywords | Field | DocType |
construction,remote operations,time-delayed control,collision,lan,plant maintenance,remote coordinated controls,slave arms,multi-robot systems,multi-operator-multi-robot tele-collaborative system,graphic simulators,planar block arrangement,delays,multiple telerobot cooperation,local area networks,telerobotics,surgery,communication delay,space technology,control systems,mechanical engineering,robot kinematics | Teleoperation,Experimental system,Control theory,Simulation,Collision,Control engineering,Local area network,Engineering,Robot,Telerobotics | Conference |
Volume | Issue | ISSN |
4 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-5886-4 | 28 | 1.63 |
References | Authors | |
7 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nak Young Chong | 1 | 403 | 56.29 |
| Tetsuo Kotoku | 2 | 400 | 47.07 |
| kohtaro ohba | 3 | 317 | 66.11 |
| Kiyoshi Komoriya | 4 | 453 | 79.16 |
| Nobuto Matsuhira | 5 | 177 | 29.67 |
| kazuo tanie | 6 | 2105 | 345.46 |