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Master-Slave Control for Construction Robot Teleoperation
Hironao Yamada, Hidetoshi Kato, and Takayoshi Muto
Department of Human and Information System, Gifu University, 1, Yanagido, 1-chome, Gifu, 501-1193 Japan
Received:September 26, 2002Accepted:October 22, 2002Published:February 20, 2003
Keywords:construction machinery, robot, hydraulic actuator, master-slave control, force feedback
Abstract
We propose a master-slave teleoperated construction robot consisting of an excavator as the construction robot and two joysticks for operating the robot remotely. A fork glove on the front of the excavator grasps objects. The slave corresponds to the fork glove and the master to joysticks used by an operator In such remote control, the operator needs a realistic "feel" of force from feedback from the fork glove. To attain effective feedback, as reported previously, we proposed variable-gain symmetric-position, but found the disadvantage that the operator could not get a realistic feel when grasping a soft object at a comparatively slow velocity. We propose an improvement to overcome this problem.
Cite this article as:H. Yamada, H. Kato, and T. Muto, “Master-Slave Control for Construction Robot Teleoperation,” J. Robot. Mechatron., Vol.15 No.1, pp. 54-60, 2003.Data files:
Copyright© 2003 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
