Optimization of Link Length Fitting between an Operator and a Robot with Digital Annealer for a Leader-Follower Operation

Abstract

In recent years, the teleoperation of robots has become widespread in practical use. However, in some current modes of robot operation, such as leader-follower control, the operator must use visual information to recognize the physical deviation between him/herself and the robot, and correct the operation instructions sequentially, which limits movement speed and places a heavy burden on the operator. In this study, we propose a leader-follower control parameter optimization method for the feedforward correction necessitated by deviations in the link length between the robot and the operator. To optimize the parameters, we used the Digital Annealer developed by Fujitsu Ltd., which can solve the combinatorial optimization problem at high speed. The main objective was to minimize the difference between the hand coordinates target and the actual hand position of the robot. In simulations, the proposed method decreased the difference between the hand position of the robot and the target. Moreover, this method enables optimum operation, in part by eliminating the need for the operator to maintain an unreasonable posture, as in some robots the operator’s hand position is unsuitable for achieving the objective.

Keywords

• robot
• teleoperation
• optimization
• quantum annealing
• Digital Annealer