書誌事項
- タイトル別名
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- Bilateral Teleoperation System with Extension of Information Based on Visual Information
抄録
<p>Master-slave teleoperation robots are useful for tasks that require human judgments and skills. Haptic sensation can be transmitted between a master and a slave by implementing bilateral control. Besides, visual information of the slave side that cannot be directly seen from the master side is presented by devices such as cameras, endoscopes, and displays. Therefore, advanced support of the teleoperation robots for operators can be expected by utilizing extended visual and haptic information. In this paper, a master-slave teleoperation system with ability to extend information transmitted to operators is proposed. The teleoperation system consists of one degree of freedom master-slave system implementing bilateral control based on robust acceleration control and an image processing system. To support operators, visual and haptic augmented reality is generated by image processing, micro-macro bilateral control, and compliance control. In addition, a design method of position and force scaling for micro-macro bilateral control according to magnification ratio of image is presented. The utility of the proposed bilateral teleoperation system is verified by experiments.</p>
収録刊行物
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- 精密工学会誌
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精密工学会誌 87 (4), 380-387, 2021-04-05
公益社団法人 精密工学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390850545657807360
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- NII論文ID
- 130008021548
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- ISSN
- 1882675X
- 09120289
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可