Design of model predictive control considering time delay in remote excavation work
Design of model predictive control considering time delay in remote excavation work
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DOI：
10.1109/amc.2019.8371159
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
Hiromu Norizuki;Y. Uchimura
中科院分区：
文献类型：
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作者：
Hiromu Norizuki;Y. Uchimura
在具有通信延迟的遥操作系统中，远端机器人的状态到达操作者的身边是有时滞的。因此，即使远程机器人已经接触到障碍物，操作人员也可能误以为它没有接触到障碍物，从而进一步移动。因此，对障碍物施加过大的力，远程机器人可能会造成破坏和故障。本文提出了一种基于模型预测控制的远程操作系统，以防止由于时间延迟而造成的破坏和故障。通过数值模拟和实验对该方法进行了验证。
In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.