Abstract
Telerobot system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of telerobot systems, varying time delay causes the overall system unstable and reduces the performance of transparency. In this paper, we propose twelve operation modes with different control schemes for telerobot on the Internet with time delay. And an optimal operation mode with control scheme is specified for telerobot with time delay, based on the tradeoff between passivity and transparency properties. We experimentally confirm the validity of the proposed optimal mode and control scheme by using a simple one DOF master–slave manipulator system.
Highlights
Telerobot systems are being widely used in various cases in scientific research and peoples’ life, such as rescue robot under unknown environment[1,2], rehabilitation robot in the healthcare field[3,4] and a networked telerobot system that allows groups of participants to collaboratively observe live remote environments[5]
The telerobot system can be represented by the block diagram of Fig. 1 and consists of human operator, master and slave manipulators, communication line, and environment
We design a one DOF master‐slave telerobot system shown in Fig.3 and Fig.4 for experiment
Summary
Telerobot systems are being widely used in various cases in scientific research and peoples’ life, such as rescue robot under unknown environment[1,2], rehabilitation robot in the healthcare field[3,4] and a networked telerobot system that allows groups of participants to collaboratively observe live remote environments[5]. Li et al [9] built a kind of virtual‐ environment mode and correct the parameters of the model online They used force reflection and object www.intechopen.com. Park et al [12] proposed a modified sliding‐mode control algorithm to compensate the varying time delay and to guarantee its nonlinear gain to be independent of the magnitude of time delay Those control methods mainly focus on stability robustness of telerobot system with varying time delay, the transparency of the system on the Internet has not further discussed yet. Yokokohji et al [14] proposed six operation modes and control schemes for cooperation between manual operation and autonomy function in telerobot system They didn’t consider the case of time delay. We experimentally confirm the validity of the optimal mode and control scheme by using a simple one DOF master– slave manipulator system
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