遠隔操作建設ロボットシステム用マスタ・スレーブ制御

概要

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In this study, we have developed a bilateral telerobotics system for construction robot using virtual reality. The system consists of a servo-controlled construction robot, two joysticks for operation of the robot from a remote place and a 3-degrees-of-freedom motion base. The operator of the robot is sitting on the motion base and is able to control bilaterally from a remote place. The role of the motion base is to simulate the realistic motion of the construction robot. We proposed, in this study, a new method of master-slave control in order to control hydraulic actuators, which were used for actuating the construction robot. The availability of the proposed method was examined by experiment and simulation and thus the validity of the method was confirmed.
一般社団法人日本機械学会の論文
2000-11-25