The Optimal Arrangement of Remote Cameras and Controlling Remote Robot Arm

摘要

In recent years, the various techniques of operating a remote robot hand by remote control are proposed. For example, stereovision with two cameras of a remote robot hand and direct instruction of a robot hand are proposed. These proposed systems have high usefulness. Especially concerning the operation system adapting virtual space, many researches are reported. The proposed systems are focused on the point of offering intelligible intuitive operativity for operators. In this research, several cameras are used as an interface for providing a user with the condition and operation of a remote robot hand and the object. In order to realize comfortable operativity using cameras, it is important that the camera is capturing the object appropriately. That is, it is necessary to be easy to grasp the condition of a remote workspace with a camera. In this paper, we propose the technique for determining a suitable camera position. Virtual space is used and the visible area of a robot hand is measured by operating a robot hand. It becomes easy for a user to operate a hand by arranging a camera to this visible area. By determining a blind spot area, the camera position which was most suitable for the contents of work can be determined. The experiment which operates a hand was conducted based on this result, and high operativity has been realized.