Master-Slave Control for Construction Robot Teleoperation - An Improved Variable-Gain Velocity Control with Force Feedback

摘要

The purpose of this research was to develop a control method providing an operator with a noticeable and reasonable sense of force without completely crushing task objects when the reaction force to the joystick is very small while slow grasping of a softer object. In remote control, it is essential to provide operator with a reasonable sense of task force from feedback. In previous research, a variable-gain velocity control was proposed by authors, but its shortcomings were found that the operator could not feel a change of reaction to the joystick in the initial stage of grasping task, and the reaction torque to the joystick did not significantly appear as a step-by-step relation to the increased driving force when grasping a very soft object at a slow speed. We proposed an improved method adopting a noticeable reaction torque and a variable master torque gain to overcome these problems and verified its effectiveness by a grasping experiment.