Master-Slave Control for a Tele-Operation System for a Construction Robot

摘要

This study deals with a master-slave system for a tele-operated construction robot. The slave in this system corresponds to the construction robot (including the fork glove, swing, boom and arm), and the master to the two joysticks. In our previous paper on this study, we proposed an improved method of control to give the operator a realistic sense of the involved force when he was grasping objects. To operate the construction robot more effectively and safely by using a tele-operation system, it is practical to consider the application of this method not only to the fork glove but also other axes. But it is difficult to apply directly to the other axes (especially the boom and the arm), because of they are influenced by gravity. Therefore, we proposed a method considering gravity compensation for these axes, and the function of force feedback was investigated by experiments. As a result, we confirmed the validity of the applied method.