CONSTRUCTION ROBOT TELE-OPERATION WITH A VR-AIDED DISPLAY: WORKSPACE VIEWPOINT MANIPULATION EFFECT

摘要

This paper investigates the viewpoint manipulation effect on human performance and workload in virtual reality-assisted construction robot tele-operation. The system consists of servo-controlled master-slave tele-robot system, which is evaluated with three cases of viewpoint manipulation. The first case, the passive automatic viewpoint, was created by automatically following the gripping process of the work piece. The second and third cases involve an active viewpoint that was created to be dynamically manipulated by the operators, using curved-line and straight-line trajectories in the same gripping process. Both trajectories were tracked with a head-mounted sensor. The results focus on the relative effectiveness of all three viewpoint manipulations created for a virtual reality display. The results indicate that active viewpoint manipulation with a curved-line trajectory improves performance and reduces human workload compared with the use of the other types of viewpoint manipulations suggested in the study. The viewpoint manipulation has increased task efficiency up to 23% as compared to automatic viewpoint manipulation.