A Design method of autonomous hazard avoidance controller with selected ratio in bilateral teleoperation

In these days, bilateral control is utilized for remote control such as remote surgery, work in the space, nuclear plants, and so on. A remote system should avoid a hazard region autonomously. This paper proposes a design method of autonomous hazard avoidance controller with selected ratio which consists of 4ch bilateral controller in bilateral teleoperation and hazard avoidance controller. During safe operation, slave system is controlled by bilateral controller. During dangerous operation, slave robot is controlled by hazard avoidance controller. For selecting controller, not only position information but also velocity information are utilized as a definition of switching. The switching method depends on velocity information and the selected ratio depends on position information. In order to perform stable switching, the design method of hazard avoidance controller gain is also proposed. The validity of the proposed method is confirmed by the experimental results.