Fault‐tolerant teleoperation systems design
Abstract
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.
Design/methodology/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.
Keywords
Citation
Dede, M. and Tosunoglu, S. (2006), "Fault‐tolerant teleoperation systems design", Industrial Robot, Vol. 33 No. 5, pp. 365-372. https://doi.org/10.1108/01439910610685034
Publisher
:Emerald Group Publishing Limited
Copyright © 2006, Emerald Group Publishing Limited