Implementation of a Remote Peg-in-Hole Operation Using a Two Degrees of Freedom Force-Reflective Joystick

摘要

A remote peg-in-hole system is implemented for the operator supervising robot operations from a remote site. For this implementation, a two D.O.F force-reflective joystick is designed to reflect the force/torque measured at the end of robotic manipulator and to generate the motion command for the robot by the operator using this joystick. In addition, the visual information captured by a CCD camera is transmitted to the remote operator and is displayed on a CRT monitor. The operator holding the force reflective joystick and watching the CRT monitor can solve unexpected problems faced by the robot. That is, the robot performs the tasks autonomously unless confronted with unexpected events that can be resolved by only the operator. To demonstrate the feasibility of this system, a remote peg-in-hole operation is implemented and the experimental data are shown in this paper.