通信時間遅れの力感覚表示によるマニピュレータの遠隔操作(機械力学,計測,自動制御)

概要

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This paper proposes a new strategy for teleoperation under communication time delay, which makes it possible for an operator to know condition of a remote manipulator through force reflection of the time delay. Using the proposed strategy, an operator feels as if the manipulator is operated through a virtual spring. Basic algorithm is that difference of command and telemetry due to communication time delay is displayed to an operator by force reflection through a hand controller. Also, force reflection includes contact force applied to the manipulator. In operation without contact, force reflection becomes to be zero when the manipulator finishes its motion. Under condition of contact, force reflection continues to be applied even if the manipulator stops its motion. Also, change of the force reflection suggests occurrence of contact, force release of the manipulator, and manipulator moving. The effectiveness of the proposed approach was confirmed by teleoperation experiment.
一般社団法人日本機械学会の論文
2003-06-25