Master-slave Control for a Construction Robot Teleoperation System (evaluation of an Operation System with Video Cameras and Force Feedback)
نویسندگان
چکیده
The purpose of this study is to evaluate a construction robot master-slave teleoperation system with video cameras and force feedback based on behavioral and subjective measures. The system can provide an operator with a realistic force feeling according to the actuator condition using the velocity-driving force characteristics. The teleoperation system comprises two joysticks on the master side, and a robot arm with four degrees of freedom on the slave side. In this study, we have introduce the control method to actual tasks of conveying and piling up concrete blocks in order to evaluate the operability based on work efficiency, danger indexes, as well as evaluation of mental strain using NASA-TLX. As a result, it is verified that the control method in this system could contribute to improving safety in teleoperation work, and alleviate the operator’s mental strain.
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