極限作業用ロボットハンドのための遠隔操作マニピュレーションシステムの開発

抄録

In recent years, the demand for robots capable of performing various works in dangerous environments is increasing. In such robots, master-slave control that allows an operator to make a situation determination is suitable. In this paper, we propose a remote control system for a high power robot arm / hand which can work under hazardous environments. The master device is a lightweight system consisting of a large number of tube type sensors and a head mount display, and has a feature that it is easy to attach to the body of the operator. We propose a calculation method that transforms the information obtained from the master device to the slave robot hand/arm. The effectiveness of the proposed system is verified by physical simulation. In addition, a experiment using the actual robot hand is shown.