2P1-35-046 Multi-telerobot Coordinated Control through Time Delay Using both Predictive and Delayed Simulators

概要

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We have suggested various coordinated controls in the Multi-Operator-Multi-Robot tele-collaboration employing graphic simulators, where two remote slave simulators are cooperating with each other under the local master operator's control. In this paper, an experimental exploration is carried out and described to make a step toward practical application. Predictive simulators would not be sufficient for a practical purpose when there is another slave arm not under the operator's control in a remote environment, since another slave arm cannot be predicted. To cope with this difficulty over long-distance communication, we exploit both the forward-in-time predictive simulator and the delayed simulator subject to the one-way time delay. This approach is verified by having two PA-10 robots teleoperated through a LAN with a significant time delay at the MEL in Tsukuba.
社団法人日本機械学会の論文