建設機械の遠隔操縦におけるサブタスクごとに最適な操縦方法の実験的検討

抄録

In this paper, we focused on the possibility that there is an optimal control method for each subtask in excavation operations, and we experimentally investigated the optimal control method for each subtask with respect to the constructed control methods. First, three control methods were implemented for comparison: an angle-velocity method using a joystick, a position-velocity method using a tactile interface, and a position-position method using a haptic interface. Next, an experiment was conducted to compare these methods for each task, and to compare and evaluate the optimal method of operation. The results showed that the position-position method was superior for sagittal plane work, while the angle-velocity and position-velocity methods were superior for swinging work.