Teleoperation system with collision avoidance capability based on virtual radar

M. Takahashi, Y. Tsumaki, D. N. Nenchev, Masaru Uchiyama

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

It is well known that during long-distance teleoperation, the operator's performance degrades due to the existing time delay. As a consequence, reliability and safety may deteriorate. To ameliorate the problem, operator support through a dedicated computer-based system has been envisioned. We propose a so-called virtual radar concept which we consider as a kind of shared intelligence. The virtual radar is used as a means for displaying collision information with regard to the whole manipulator. Possible link collisions, which are generally difficult to be recognized by the operator, are detected by the computer and effectively mapped as an unreachable area around the end-effector. We use real-time computer graphics which is overlaid on the real image. Furthermore, the control system restricts automatically the master arm motion when the operator approaches the mapped collision area. We have verified the effectiveness of our approach by experiments with a real telerobot system.

Original languageEnglish
Pages154-159
Number of pages6
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 6th IEEE International Workshop on Robot and Human Communication, RO-MAN'97 - Sendai, Jpn
Duration: 1997 Sep 291997 Oct 1

Other

OtherProceedings of the 1997 6th IEEE International Workshop on Robot and Human Communication, RO-MAN'97
CitySendai, Jpn
Period97/9/2997/10/1

ASJC Scopus subject areas

  • Hardware and Architecture
  • Software

Fingerprint Dive into the research topics of 'Teleoperation system with collision avoidance capability based on virtual radar'. Together they form a unique fingerprint.

  • Cite this

    Takahashi, M., Tsumaki, Y., Nenchev, D. N., & Uchiyama, M. (1997). Teleoperation system with collision avoidance capability based on virtual radar. 154-159. Paper presented at Proceedings of the 1997 6th IEEE International Workshop on Robot and Human Communication, RO-MAN'97, Sendai, Jpn, .