6 DOF PRESENTATION OF REALISTIC MOTION IN OPERATING A CONSTRUCTION TELE-ROBOT SYSTEM

摘要

In this study, we developed a construction tele-robotic system that has wide applications in restoration work in stricken areas. The system consists of a servo-controlled construction robot, two joysticks to operate the robot from a remote place and a 6 DOF (degrees of freedom) motion base. The operator sits on a seat attached to the motion base. A vital problem that must be solved in such a system is how to convey adequate presence of working site in a high quality simulation to the operator. In this paper, a control method employing the 6 DOF motion base is investigated to generate 6 DOF realistic motions according to the signals of six acceleration sensors on the construction tele-robot. The validity of this method has been confirmed experimentally, i.e., not only can each motion (roll, pitch, yaw, surge, sway and heave) of the construction tele-robot be simulated accurately by the 6 DOF motion base, but also this complex motion can be simulated in high quality.