2015 Fiscal Year Final Research Report
Development of Precise Force Presentation Method for Tele-operated Construction Robot
| Project/Area Number |
25330233
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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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| Research Field |
Human interface and interaction
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| Research Institution | Gifu University |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Keywords | ヒューマンインタフェース / 遠隔操作 / 力覚提示 / 建設機械 / 油圧パワーショベル |
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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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| Free Research Field |
機械工学
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