マスタ・スレーブロボットのための拡張現実感による視覚提示システム

抄録

In recent years, the demand for robots on behalf of people to perform various tasks in dangerous places has increased. To operate the robot, we need advanced work capacity and judgment ability. Therefore, the Master-Slave type robot that can perform human tasks is often used. However, it is difficult to operate slave robot accurately because of time delay and difference of kinetics and kinematics. In this research, we propose some vision system with Augmented Reality (AR) system for the purpose of improving operability. In particular, we drew real time Master's operation situation, simulation of robot arm and distance between robot's hand and object on camera image. As a result of experiments, it was found that the expert operators and the beginner have a remarkable difference in operation efficiency and operability depending on the type of AR system.