Teleoperation of Welfare Robotic Systems by Motion Planning Considering Assigned Velocity and Acceleration Limit

Teleoperation of Welfare Robotic Systems by Motion Planning Considering Assigned Velocity and Acceleration Limit

  This paper presents an advanced motion planning algorithm for effective teleoperation of welfare robotic systems. The proposed system includes means to achieve accurate autonomous performance, safety, stability, and user-friendliness. Proposed motion planning algorithm carefully plans precise manipulator motions by considering important constraints, and it uses a hard real-time control of the robot, thereby assures accurate performance. The telerobotic features of the system possess transmission control protocol (TCP) and supervisory control, to assure reliable communication and system stability. A parameterization algorithm was developed to resolve simple user requests into task parameters, thereby improving user-friendliness. Safe performance of the proposed welfare robotic system is assured by motion planning and telerobotic features. An experimental system was implemented within a local area network (LAN), with a Performer MK3s robot manipulator as the welfare robot. In this implementation, remote supervisor accepts and resolves simple user requests into task parameters, and send them to the local controller (LC) for motion planning and robot control. The experimental performance verified the effectiveness of the proposed method.