2022 Fiscal Year Final Research Report
Study on improvement of operability of remote control systems based on the operator's selection of primary viewpoint
| Project/Area Number |
20K12010
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 61050:Intelligent robotics-related
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| Research Institution | Kobe University |
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Principal Investigator |
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | 遠隔操縦システム / リモートペア型アーム / 参照座標 / 主画面選択 / 操縦デバイス |
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| Outline of Final Research Achievements |
We proposed a basic design framework for remote control systems with multiple screens by focusing on the operator's act of explicitly switching the primary view. The reference coordinate system of the control device will be changed according to this switching, and an appropriate control mode (position mode or velocity mode) is also selected. We also proposed a method to reduce the operator's mental load by actively changing the hand posture of the control device using the actuators for force feedback so that it matches the hand posture of the working arm, thereby ensuring consistency in the hand posture and the reference coordinate system. We also designed and developed a compact control device that combines a parallel mechanism and a gimbal mechanism, which is suitable for the proposed method.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
複数画面を有する遠隔操縦システムにおける操縦モードの切り替えや，手元の操縦側と画面を通しての作業環境側との整合性を確保するための一般的な手法を提案した．
想定するカメラは，作業環境に固定されたカメラや作業アーム手先のカメラだけでなく，自由視点カメラも含まれており，一般性の高い問題設定であるため，ここでの成果は様々な遠隔操縦システムを開発する上で重要な設計指針となるものである．また，提案手法に適したデバイスとして開発された操縦デバイスと組み合わせた全体システムは極めて操作性が高く，多くの場面で有効となる普遍的なシステムとなることが期待できる．
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