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JRM Vol.14 No.2 pp. 98-104
doi: 10.20965/jrm.2002.p0098
(2002)

Paper:

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, 2001
Accepted:
December 15, 2001
Published:
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:
Dingxuan Zhao, Yupeng Xia, Hironao Yamada, and Takayoshi 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.
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