A teleoperation support system with the help of dual views ofCartesian and configuration space

摘要

We propose dual views of Cartesian and configuration space as ateleoperation support system. To overcome a transmission delay betweenmaster and slave robots. We use a 3D graphics display besides a masterrobot, which virtually represents a slave robot and its environment (aslave site). In this system, an operator picks up a sequence of goodmotions of a slave robot while watching the 3D graphics display. In thiscase, we discuss what kinds of graphics images are needed for anoperator to select each robot motion adequately. In this paper, weprepare not only Cartesian space of a slave site but also itsconfiguration space as graphics images. Moreover, the configurationspace is expressed by not only a 3D whole space but also its 2D slicedimage. Finally, usefulness and efficiency of the visual support systemare ascertained in some experiments by several test subjects