TY - GEN
T1 - A design method of autonomous hazard avoidance controller with selected ratio in bilateral teleoperation
AU - Taguchi, Keiichi
AU - Hyodo, Shoyo
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - In these days, bilateral control is utilized for remote control such as remote surgery, work in the space, nuclear plants, and so on. A remote system should avoid a hazard region autonomously. This paper proposes a design method of autonomous hazard avoidance controller with selected ratio which consists of 4ch bilateral controller in bilateral teleoperation and hazard avoidance controller. During safe operation, slave system is controlled by bilateral controller. During dangerous operation, slave robot is controlled by hazard avoidance controller. For selecting controller, not only position information but also velocity information are utilized as a definition of switching. The switching method depends on velocity information and the selected ratio depends on position information. In order to perform stable switching, the design method of hazard avoidance controller gain is also proposed. The validity of the proposed method is confirmed by the experimental results.
AB - In these days, bilateral control is utilized for remote control such as remote surgery, work in the space, nuclear plants, and so on. A remote system should avoid a hazard region autonomously. This paper proposes a design method of autonomous hazard avoidance controller with selected ratio which consists of 4ch bilateral controller in bilateral teleoperation and hazard avoidance controller. During safe operation, slave system is controlled by bilateral controller. During dangerous operation, slave robot is controlled by hazard avoidance controller. For selecting controller, not only position information but also velocity information are utilized as a definition of switching. The switching method depends on velocity information and the selected ratio depends on position information. In order to perform stable switching, the design method of hazard avoidance controller gain is also proposed. The validity of the proposed method is confirmed by the experimental results.
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U2 - 10.1109/AMC.2008.4516136
DO - 10.1109/AMC.2008.4516136
M3 - Conference contribution
AN - SCOPUS:63149116245
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 607
EP - 612
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -