抄録
This study deals with a master-slave system for a tele-operated construction robot. The master in this system corresponds to the construction robot (including the fork glove, swing, boom and arm), and the slave to the two joysticks. In order to operate the construction robot more effectively and safely by using a tele-operation system, it is practical to consider the application of this method to all axes. But it is difficult to apply directly to the other axes (especially the boom and the arm), because these axes are influenced by gravity. Therefore, we proposed the method by considering gravity compensation to these axes, and the function of force feedback was investigated by experiments. As a result, we confirmed the validity of the applied method.
