多軸回転台を用いた相対座標変化による遠隔ロボットカメラの回り込み動作

抄録

A teleoperated robot system with a first-person view via a head-mounted display (HMD) allows users to intuitively manipulate viewpoints and handle objects through camera movements that respond to the user’s head motions. However, unlike in virtual reality (VR) environments, where camera movement can be freely controlled, a camera mounted on a physical robot faces limitations in speed and degrees of freedom (DOF) of viewpoint movement. For example, a typical 3-DOF remote robot camera is unable to perform orbiting motions, which involve moving around an object to view it from behind, due to its limited range of motion. Achieving such motion requires either an additional movement mechanism or a multi-DOF neck mechanism. This study focuses on a scenario where a remote robot performs an orbiting motion around an object placed on a worktable. We propose a method for performing the orbiting motion using a fixed camera and a multi-axis turntable, focusing on the relative coordinate changes between the camera and the object during the motion.