Estimation for torques applied to the master side in a construction robot teleoperation system

Abstract

The purpose of this research is to develop a method that measures a torque which an operator applies to the joystick without using a torque/force sensor on a joystick. We dealt with a construction robot teleoperation system which is comprised of two joysticks as the master, and an excavator with four degrees of freedom consisting of fork glove, swing, boom, and arm as the slave. It is necessary to know the torque (force) exerted on the master side in force control. Because the joystick does not have a force/torque sensor in our lab, it is not possible to directly obtain the torque. To give prominence to the simple and practical construction robot teleoperation system in our lab, we proposed a method that measures the torque exerted on the joystick to existing equipment. Its effectiveness was verified by a reaction torque experiment.