| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Outline of Final Research Achievements |
Teleoperation system for construction robot (hydraulic shovel) is effective to work in hazardous environment. In this research we developed a control method to provide an operator with a realistic sensation of grasping by introducing a noticeable reaction torque to the joystick’s handling and a variable master torque gain according to an object’s hardness. Additionally, we proposed a presentation method of soil strength and warning system as a new feature expansion of the system.
To evaluate the proposed system, operability tests were conducted when the control method was introduced to actual tasks, including grasping, conveying and classifying tasks using concrete blocks and sponge foam blocks. According to statistical analysis of the experimental results, we verified that the developed method used in the operation system could contribute to improving efficiency and safety during teleoperation work as well as alleviating the operator’s mental fatigue and stress.
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