マスタ・スレーブ制御におけるオペレータの簡易異常診断

抄録

Recently, remote-controlled robots tend to play important roles in various kinds of fields, such as medical care, maintenances of nuclear facilities, rescue activities in hazardous area and so on. However, abnormal actions and errors of operators cause injury to human life. As a remedy, in this paper, a simple method for anomaly detection of operators in a master-slave control system for remote-controlled robots. Based on an approach from control engineering, a feedback-loop cut by human error in a master system can be found by monitoring an unstable behavior of a control variable.