マルチメディアディスプレイを用いた統合型遠隔ロボット制御法

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In order to reduce burdens of human operators in master-slave teleoperation of robots, it is necessary to introduce off-line teaching based on environment models and intelligent monitoring support for real tasks. This paper presents a new robot teleoperation method, which integrates interactive environment modeling, off-line teaching and task monitoring assisted by computer graphics on a novel display device, Multi-Media-Display (MMD) . MMD has been developed to accomplish “the real-time and stereo-scopic display of models superimposed on top of TV camera images”. With this facility, a sequence of typical teleoperation steps are carried out as follows. Those objects which play essential roles in a task are expected to have their shape models in advance. Their positions and orientations in the real environment can be determined by moving and rotating their graphics models interactively to fit on the TV camera images of corresponding real objects. Using these models, robot motions to achieve desired tasks can be taught in a graphics world. Even if the models are incomplete, the superimposed display enables visual collision checking between a manipulator and environmental objects through the motion simulation. In the real task monitoring, the superimposed images ease detection of errors, because it clearly presents the differences between expected images of models and real scenes. Throughout the job, MMD's real-time graphics and stereo-scopic images effectively improve the man-robot intef ace in 3 D space.

マルチメディアディスプレイを用いた統合型遠隔ロボット制御法

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