Intuitive OCU (Operator Control Unit) of MFR (Multipurpose Field Robot) on Construction Site

摘要

Recently, there has been a lot of interest concerning remote-control construction robot manipulation in hazardous operation environments including construction sites.However, there are problems involving the method of remote-control in unstructured work environments such as construction sites.In this study, an improved MFR system is described, which helps a human operator to easily install construction materials through an intuitive Operator Control Unit (OCU) on construction sites.The OCU consists of a force reflecting joystick and a vision system.The active compliance control and bilateral communication for strategic control is also described.In order to evaluate the proposed OCU, the installation of construction materials is simulated.