A design method of autonomous hazard avoidance controller with selected ratio in bilateral teleoperation

Keiichi Taguchi, Shoyo Hyodo, Kouhei Ohnishi

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

6 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages607-612
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Taguchi, K., Hyodo, S., & Ohnishi, K. (2008). A design method of autonomous hazard avoidance controller with selected ratio in bilateral teleoperation. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 607-612). [4516136] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516136