Fault‐tolerant teleoperation systems design

Mehmet Dede, Sabri Tosunoglu, Mike Wilson
2006 Industrial robot  
Purpose -The objective of this study is to enhance the usage of teleoperation fields, such as in nuclear site decommissioning or nuclear waste disposal, by designing a stable, dependable and fault-tolerant teleoperation system in the face of "extraordinary" conditions. These "extraordinary" conditions can be classified as variable time delays in communications lines, usage of different robotic systems, component failures and changes in the system parameters during task execution.
more » ... ogy/approach -This paper first gives a review of teleoperation systems developed earlier. Later, fault tolerance is proposed for use in teleoperation systems at the processor, actuator, sub-system, and system levels. Position/force control algorithms are recommended to address stability issues when there is a loss in communications. Various other controls are also introduced to overcome the instability experienced when there is a time delay in the communications line. Findings -Finally, this work summarizes the teleoperation system architecture and controller design options in terms of a flowchart to help in the conceptual design of such systems. Originality/value -The impact of these new designs and algorithms will be to expand the limits and boundaries of teleoperation and a widening of its utilization area. Enhanced operation of these systems will improve system reliability and even encourage their use in more critical and diverse applications.
doi:10.1108/01439910610685034 fatcat:rh3m5lcpdjesnldrs5uozdrinm