INTUITIVE OCU (Operator Control Unit) OF MFR (Multipurpose Field Robot) ON CONSTRUCTION SITE

摘要

Recently, there has been a lot of interest concerning remote-control construction robot manipulation in hazardous operation environments including construction sites. However, there are problems involving the method of remote-control in unstructured work environments such as construction sites. In this study, an improved MFR system is described, which helps a human operator to easily install construction materials through an intuitive Operator Control Unit (OCU) on construction sites. The OCU consists of a force reflecting joystick and a vision system. The active compliance control and bilateral communication for strategic control is also described. In order to evaluate the proposed OCU, the installation of construction materials is simulated.