ジョイスティックを用いた遠隔操作型移動マニピュレータの微操作の実現

抄録

In disaster environments, rescue robots have been expected for searching victims and exploring target environments. In order to extend their capabilities in such searching missions, we developed a 6 degree of freedom manipulator that mounted on our tracked vehicle, Quince. A master-slave system was adopted for intuitive teleoperation of the slave manipulator. However, we had a difficulty to enable fine operation of the slave manipulator, because of a limitation of fine operability of the master manipulator. Therefore, in this research, we constructed a velocity control system for the position of the hand based on input signal via joystick to improve its operability. In this paper, we introduce the velocity control system of the manipulator with a joystick, and report basic experiments to evaluate the method.