1-208 Supervisory Control of Industrial Telemanipulators with Assign Velocity and Working Precision, Bound to Joint Acceleration Constraint

概要

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This research proposes a supervisory control scheme for industrial telemanipulators. The final goal is to devise a control methodology for the effective teleoperation of industrial robot manipulators. Supervisory control is utilized as the base of the control methodology, in that the remote supervisor (human operator) communicates only the important task parameters to the local controller, over the Internet. Local controller plans the optimum trajectory considering supervisor instructions and local constraints, and finally controls the telemanipulator. Reference positions of the desired end-effector trajectory, assigned end-effector speed, working precision, and joint acceleration limits are the important task parameters communicated by the remote supervisor. Local controller considers such specifications in its trajectory planning algorithm. The proposed supervisory control scheme was successfully devised and experimented between the Department of Advanced Systems Control Engineering, Saga University (ASCESU) and Kurume National College of Technology (KNCT).
一般社団法人日本機械学会の論文
2002-11-14