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Presentation of Realistic Motion to the Operator in Operating a Tele-operated Construction Robot
Dingxuan Zhao, Yupeng Xia, Hironao Yamada and Takayoshi Muto
Department of Mechanical & Systems Engineering, Gifu University, 1-1 Yanagido, Gifu, 501-1193 Japan
Received:November 13, 2001Accepted:December 15, 2001Published:April 20, 2002
Keywords:virtual reality, tele-operation, construction robot, parallel manipulator, evaluation experiment
Abstract
In this study, a tele-operated construction robotic system was developed. An important problem to be solved in such a system is how the operator can feel the presence of working fields in a high quality. To solve the problem, in this paper, a new control method of employing the 3-DOF motion base is investigated to generate such a realistic motion as produced by a 6-DOF motion base. In order to confirm the validity of this control method, an evaluation experiment has been preformed. According to the experimental result, with both visual information and the motion of the robot, the operator on the 3-DOF motion base could feel the motion of not only roll, pitch and heave, but also surge, sway and yaw as well.
Cite this article as:D. Zhao, Y. Xia, H. Yamada, and T. Muto, “Presentation of Realistic Motion to the Operator in Operating a Tele-operated Construction Robot,” J. Robot. Mechatron., Vol.14 No.2, pp. 98-104, 2002.Data files:
Copyright© 2002 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
