Evaluation of Object Type Recognition Method in Construction Teleoperation Robot Control System

摘要

The purpose of this research is to evaluate the effectiveness of object type recognition method in construction robot control system. This research examines the master-slave control system for teleoperation construction robot. The master comprises two joysticks introduced to operate objects from a remote location,and the slave corresponds to an excavator with four degrees of freedom regarded as the construction robot. The authors has proposed a control method to provide operator with a reasonable sense of reaction force by introducing noticeable reaction torque to joystick and the variable master torque gain according to the hardness of objects when the robot moves slowly to grasp soft objects. In this research,a visual prompting method,which shows the value of variable master torque gain on the screen and changes the color of objects with the objects type in virtual space,is provided with the operator for the object type recognition. A series of grasping experiments were conducted by using concrete, tire,urethane foam and sponge foam blocks. As a result,operator could easily distinguish the type of grasped objects by the abovementioned visual prompting method,and the effectiveness of the object type recognition method is verified by the experiments.