DEVELOPMENT OF A HYDRAULIC TELE-OPERATED CONSTRUCTION ROBOT USING VIRTUAL REALITY (NEW MASTER-SLAVE CONTROL METHOD AND AN EVALUATION OF A VISUAL FEEDBACK SYSTEM)

Authors

  • Hironao Yamada Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
  • Takayoshi Muto Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Keywords:

telerobotic system, construction machine, master-slave control, virtual reality, hydraulic system, computer graphics

Abstract

In this study, we have developed a bilateral telerobotics system for a construction robot using virtual reality. The sys-tem consists of a servo-controlled construction robot, two joysticks for operation of the robot from a remote place, and a three degrees of freedom motion base. The operator of the robot sits on the motion base and controls the robot bilateral-ly from a remote place. The role of the motion base is to realistically simulate the motion of the construction robot. In this study, firstly, we propose a new method of master-slave control in order to make better feedback feeling of the reac-tion force to the joystick for the tele-operated construction robot. Secondly, we tested the visual feedback system for the construction robot using CCD video camera and computer graphics. For tele-operations, a video image of the operation field is normally projected onto a screen to assist the operator. In this study, an additional computer graphics (CG) was generated as a virtual robot to the real video image in order to present the end condition of the robot arm. The usefulness of the system is confirmed by the experiments in this study.

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Author Biographies

Hironao Yamada, Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Hironao YAMADA (Born October 02, 1962) received the Doctor of Engineering degree from the Nagoya University Japan, in 1991. From 1991 to 1994, he worked in Nagoya University. From 1992 to 1993, he was a Visiting Research Fellow at the Aachen Institute of Technology, Germany. He is currently an Associate Professor in the department of mechanical and systems engineering, Gifu University.

Takayoshi Muto, Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Takayoshi MUTO (Born March 31, 1941) received the Doctor of Engineering degree from the Nagoya University, in 1972. From 1963 to 1972, he worked in the department of mechanical engineering, Nagoya Univer-sity. From 1981 to 1982, he was a Visit-ing Research Fellow at the Aachen Institute of Technology, Germany. He is currently a Professor in the department of mechanical and systems engineering, Gifu University.

References

Burdea, G. C. 1996. Force and Touch Feedback for Virtual Reality. Wiley-Interscience, New York.

Kato, I. et al. 1990. Robotics Handbook. Corona Pub-lishing, Tokyo, Japan.

Sheridan, T. B., 1989. Telerobotics. Automation, Vol. 25, No. 4, pp. 487-507.Yamada, H., Mukota, S., Zhao, D. and Muto, T. 1998. Construction Telerobot System with Virtual Reality (Development of a bilateral construction ro-bot). Proc. of VSMM98, Vol. 1, pp. 152-157.

Yamada, H., Muto, T. and Ohashi G. 1999. Construc-tion Telerobot System with Virtual Reality (Devel-opment of a bilateral construction robot), Develop-ment of a Telerobotics System for Construction Ro-bot Using Virtual Reality. European Control Con-ference ECC'99, CD-ROM.

Zhao, D., Xia, Y., Yamada, H., and Muto, T. 2002. Presentation of realistic motion to the operator in operating a tele-operated construction robot. Journal of Robotics and Mechatronics, Vol. 14, No. 2, pp. 98-104.

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Published

2003-07-01

How to Cite

Yamada, H., & Muto, T. (2003). DEVELOPMENT OF A HYDRAULIC TELE-OPERATED CONSTRUCTION ROBOT USING VIRTUAL REALITY (NEW MASTER-SLAVE CONTROL METHOD AND AN EVALUATION OF A VISUAL FEEDBACK SYSTEM). International Journal of Fluid Power, 4(2), 35–42. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/607

Issue

2003: Vol 04 Iss 2

Section

Original Article