Master-Slave Control for Construction Robot Teleoperation | Zendy

H. Yamada | Zendy; H. Kato | Zendy; Takayoshi MUTO | Zendy

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Master-Slave Control for Construction Robot Teleoperation

Author(s) -

H. Yamada,

H. Kato,

Takayoshi MUTO

Publication year - 2003

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2003.p0054

Subject(s) - teleoperation , excavator , joystick , master/slave , fork (system call) , robot , computer science , operator (biology) , wired glove , simulation , telerobotics , remote operation , haptic technology , mobile robot , computer vision , control engineering , engineering , artificial intelligence , gesture , mechanical engineering , operating system , telecommunications , biochemistry , chemistry , repressor , transcription factor , gene

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.

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