The Construction of Man-machine Interface for Remote Control Robot

Of the functions of the man-machine interface of the remote control robot, those functions that are especially related to safety are described in this report. Based on the assumption that the human operator inevitably makes mistakes when issuing commands to the robot, two types of interlocks are proposed for the remote control robot system. The robot system is equipped with a fundamental, main-interlock for safety monitoring on the robot side and with a supplementary, quasi-interlock for exceptional tasks that cannot be covered by the main-interlock. A manipulator system approach is taken to add to the reliability of the quasi-interlock. The quasi-interlock scheme that does not impair the safety of the human operator when he makes mistakes is developed for the pneumatic manipulator that can control the compliant motion over a wide range of conditions.