Assist control for ball catching using high-speed vision on a master-slave robot

摘要

In recent years, the demand for robots that can perform various tasks in dangerous environments has increased. Teleoperated robots are more suitable for dangerous environments than autonomous robots. We have developed a master-slave robot system that consists of a lightweight master device and a high-power slave robot and proposed operation assistance methods to improve the dexterity and increase the moving speed. In this paper, we propose a control method for catching a flying ball with a master-slave system. The slave robot is controlled by integrating the operator's commands and autonomous visual feedback control so as to track and catch the flying object. The object trajectory and operator motion are predicted by using a Kalman filter. The proposed method was verified by experiment.