Teleoperation of Hydraulic Construction Robot Using Virtual Reality

This research deals with master-slave control of a teleoperated hydraulic construction robot. In this system, the master consists of two joysticks, and the slave is the hydraulic construction robot (including the fork glove, boom, arm, and swing, driven by hydraulic actuators). In a previous research, the authors proposed a force feedback method based on position-velocity control, in which the cylinder velocity is proportional to the position of the joystick. The purpose of this research is to confirm the effectiveness of the force feedback method using behavioral measures and subjective indexes. An experiment was conducted to evaluate operational performance, confirming the effectiveness of the force feedback control system.