Design of model predictive control considering time delay in remote excavation work

摘要

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.