Study on the technology of telepresence in operating a construction tele-robot system: Development of 6-|DOF presentation of realistic motion

摘要

A construction tele\|robotic system that has wide applications is developed such as restoration work in a stricken area. The system consists of a servo\|controlled construction robot, two joysticks to operate the robot from a remote place and a 6\|DOF motion base. The operator sits on a seat attached on the motion base. A vital problem that must be solved in such a system is how to convey adequate presence of working site to the operator in high quality. In this paper, a control method of employing the 6\|DOF motion base is investigated to generate such a 6\|DOF realistic motion just only according to the signals of six acceleration sensors on the construction tele\|robot. The validity of this method has been confirmed experimentally, i.e., not only the each motion of roll, pitch, yaw, surge, sway and heave of the construction tele\|robot can be simulated accurately by the 6\|DOF motion base, but also the complex motion can be done in high quality.