マスタ・スレーブシステムにおける操作者の行動予測による操作補助

抄録

In recent years, the demand of robots that can work in dangerous environments or remote places is increasing. In such environments, teleoperated robots that can work instead of human are desired. However, it is not easy for them to achieve tasks smoothly and quickly because of the kinematic and kinetic difference or the time delay of communication. To solve the problem, operation assist control is introduced to a teleoperated robot, and reaching motion is in particular focused on in this paper. Operator's reaching motion is always predicted and when it is detected, slave's robot hand is guided to the targeted object with assist control. First, a predictor to detect reaching motion from any distance is proposed. Next, a predictor of the end time of an operator's reaching motion and a method to modify the reaching trajectory are proposed.