2A2-G04 A Motion Control Algorithm for Tele-operated Camera Arm Systems in Poor Network Environment(Robotics for Hazardous Fields)

摘要

This paper presents a motion-control and commanding algorithm of remotely-operated multiple degrees of freedom robot systems in poor communication environments. As a practical application target, a camera arm system mounted on disaster response robots is taken, and its required functionality in terms of operator stress alleviations and operation stability under asynchronous information delays and loses among human-interface controller and on-board robot controller is discussed with actual implementations and evaluation experiments.