JP2023129147A - Remote operation system and remote operation method of manipulator - Google Patents

Abstract

To provide a remote operation system which enables easy remote operation of a manipulator, and to provide a remote operation method of the manipulator.SOLUTION: A remote operation system (1) includes: a master operation device (22) including an operation part; a manipulator (a slave arm 21) which includes a work tool for conducting work involving reaction force to a work object (a structure 51); a contact member (a suction damper 7) which is attached to the manipulator so as to protrude from the manipulator and contacts with the work object; and a control device (2) which feeds back reaction force exerted on the contact member by the work object to the master operation device to remotely operate the manipulator so that the manipulator responds to movement of the operation part.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a remote control system and a method for remotely controlling a manipulator. The present disclosure particularly relates to a remote control system for remotely controlling a manipulator and a method for remotely controlling a manipulator. The remote control includes a technique of controlling a manipulator using a control unit of a master control device as a master-slave system using so-called bilateral control.

Conventionally, a manipulator (robot arm) such as an industrial robot is installed on a fixed surface or a stable pedestal, and the position of the tip of the arm is controlled along a trajectory taught in advance. It is assumed that the position of the object to be worked on by such a robot arm remains the same as during teaching. Therefore, it is difficult to apply this method to work in which the position of the workpiece changes or to irregular work. Here, for non-routine or non-routine work that is difficult to automate, there are cases in which a master operating device is manually operated to remotely control a slave manipulator using so-called master-slave remote control.

For example, the technology in Patent Document 1 uses a preset upper limit to prevent a large slave reaction force from being generated on the input grip (master operating device) when the end effector at the tip of the slave manipulator comes into contact with a highly rigid object. When it exceeds the value, the upper limit value is returned to the input grip.

Furthermore, for example, the technology disclosed in Patent Document 2 uses an external force acting on a slave manipulator mounted on the upper end of a boom extending from the vehicle as a reaction force to perform feedback control on a master manipulator mounted on the vehicle side. . The technology disclosed in Patent Document 2 detects obstacles on the path leading to the work point, sets an avoidance point to avoid the obstacle, and increases the reaction force when the slave manipulator exceeds the avoidance point, thereby preventing contact. can be prevented.

Further, for example, Patent Document 3 discloses an apparatus that includes a rotating roller and a water jet nozzle at the tip of a working arm mounted on a vehicle in order to peel off a deteriorated part.

Japanese Patent Application Publication No. 08-229858 Japanese Patent Application Publication No. 08-300277 Japanese Patent Application Publication No. 08-338197

Here, in the technique of Patent Document 1, the reaction force transmitted to the slave manipulator is detected, but the reaction force due to contact with the object of interest is detected. Therefore, the technique of Patent Document 1 cannot cope with sudden reaction force when coming into contact with an unexpected obstacle. Further, since an upper limit value is set for the reaction force to be transmitted to the master operating device, for example, when an unexpectedly large reaction force is received, a reaction force exceeding the upper limit value cannot be felt.

In the technique disclosed in Patent Document 2, the distance to an obstacle on a route leading to a work point is determined using a visual device. However, depending on the viewing angle, the image quality (resolution) of the visual device, and the time delay between photographing and projection, it is possible to misjudge the distance.

In the technique of Patent Document 3, forcibly peeling is performed using a water jet nozzle supported by a manipulator, but it is assumed that the work will be performed in a tunnel, and a large reaction force will be generated during the work. Therefore, skill is required to operate the slave arm.

An object of the present disclosure, which has been made in view of the above circumstances, is to provide a remote control system and a remote control method for a manipulator that enable easy remote control of a manipulator.

A remote control system according to an embodiment of the present disclosure includes:
a master operating device including an operating section;
a manipulator equipped with a work tool that performs work that involves a reaction force on a work target;
a contact member attached to the manipulator so as to protrude from the manipulator and comes into contact with the workpiece;
The control device includes a control device that feeds back a reaction force that the contact member receives from the work object to the master operating device, and remotely controls the manipulator in response to the movement of the operating section.

A method for remotely controlling a manipulator according to an embodiment of the present disclosure includes:
A method for remotely controlling a manipulator equipped with a work tool that performs work with a reaction force on a work object, the method comprising:
remotely controlling the manipulator to correspond to the movement of the operating section of the master operating device;
bringing a contact member attached to the manipulator into contact with the workpiece so as to protrude from the manipulator;
The method includes a step of feeding back a reaction force that the contact member receives from the work object to the master operating device.

According to the present disclosure, it is possible to provide a remote control system and a method for remotely controlling a manipulator that allow easy remote control of a manipulator.

FIG. 1 is a diagram showing a remote control system according to an embodiment of the present disclosure. FIG. 2 is a partially enlarged view of the remote control system of FIG. 1. FIG. 3 is a partially enlarged view of a remote control system according to an embodiment of the present disclosure. FIG. 4 is another partially enlarged view of the remote control system of FIG. 3. FIG. 5 is a partially enlarged view of a remote control system according to an embodiment of the present disclosure.

EMBODIMENT OF THE INVENTION Hereinafter, a remote control system and a remote control method for a manipulator according to embodiments of the present disclosure will be described with reference to the drawings. In each figure, the same or corresponding parts are given the same reference numerals. Descriptions of the same or corresponding parts will be omitted or simplified as appropriate.

<First embodiment>
(System configuration)
As shown in FIG. 1, the remote control system 1 according to the present embodiment is used when performing work that involves a reaction force on a structure 51 as a work object, and is used when a manipulator (robot arm) It includes a slave arm 21, which is an example, a master operating device 22, a control device 2, and a contact member. The slave arm 21 is mounted on a movable platform 13 at the tip of the boom 12 of the aerial work vehicle 11. The movable table 13 is configured to be movable. Here, the remote control system 1 is preferably a system that remotely controls a manipulator mounted on a movable platform in order to perform work involving reaction force, but is limited to the configuration as the aerial work vehicle 11. Not done.

The slave arm 21 is, for example, a vertically articulated robot arm having degrees of freedom in six axial directions. FIG. 2 is a partially enlarged view of the remote control system 1 of FIG. 1. As shown in FIG. 2, the slave arm 21 has six axes (joints) a1, a2, a3, b3, b2, and b1 in order from the tip, and by rotating around each axis, It is movable in the axial direction. However, the manipulator is not limited to a robot arm and may have any structure and shape as long as it is remotely controlled by the master operating device 22.

The master operating device 22 includes an operating section for operating the slave arm 21. As shown in FIG. 1, the master operating device 22 (control device 2) and the slave arm 21 are connected by a cable 23, and the master operating device 22 remotely controls the slave arm 21 (master-slave remote control). Ru. The operating unit is not limited to a specific configuration, but may be, for example, a vertically articulated robot arm similar to the slave arm 21. By making the operating section of the master operating device 22 and the slave arm 21 have the same shape, it becomes relatively easy to assemble the remote operating system 1, which is a master-slave control system. However, the master and slave do not necessarily have to be similar in shape. Furthermore, it is not necessary that the master and slave have the same degree of freedom. Further, the operating unit may be a rotary controller such as a jog shuttle, as another example.

The control device 2 controls the master operating device 22 and feeds back the position (angle) and reaction force of the slave arm 21 to the master operating device 22. Specifically, the position of the slave arm 21 whose trajectory is calculated from the angle of the arm and the reaction force acting on the slave arm 21 can be transmitted in both directions through bilateral control. When the slave arm 21 is a vertical multi-joint type robot arm, it is preferable that the torque of a drive motor provided at each joint is transmitted to the master operating device 22 as a reaction force. The master operating device 22 and the control device 2 may be provided in the operating room 14. The operation room 14 may further include a monitor that displays images from a camera installed on the slave arm 21.

A working tool 4 is attached to the tip of the slave arm 21 for performing work that involves a reaction force on the structure 51. Examples of the work tool 4 include spray devices such as water jet devices, sandblasting devices, and high-pressure cleaning devices used in high-place work. Examples of "work involving reaction force" include spraying work in which a projectile such as high-pressure water, cleaning water, and sand is sprayed from the work tool 4 onto the structure 51. The work tool 4 is also called an end effector. Further, the structure 51 that is the object to be worked on includes, for example, a steel structure such as an under-girder structure of a bridge, but is not limited to a steel structure.

Further, a contact member is attached to the slave arm 21 so as to project from the slave arm 21 . The contact member is a member that comes into contact with the workpiece. It is preferable that the contact member has buffering performance in order to soften the impact upon contact. In this embodiment, the contact member is a damper (adsorption damper 7) having buffering performance. The buffering performance may be achieved by providing a damper as in this embodiment, or may be achieved by using an elastic material such as rubber. The contact member may have any size or shape as long as it protrudes from the slave arm 21 and contacts (abuts) the structure 51 before the slave arm 21 does, such as a bar-shaped rod, a probe, or a curved shield-shaped cover ( (See contact cover 5 in FIG. 2), a cushion-shaped block, etc. The reaction force when the contact member (adsorption damper 7 ) contacts the structure 51 is transmitted to the slave arm 21 and then transmitted to the master operating device 22 via the control device 2 . Furthermore, the contact member (adsorption damper 7) that contacts the structure 51 can stabilize the posture of the slave arm 21 with respect to the structure 51 when working with the slave arm 21. Here, a sensor such as a contact sensor may be attached to the tip (portion that contacts the structure 51) of the contact member (adsorption damper 7), and the detection result of the sensor may be transmitted to the control device 2.

In this embodiment, the adsorption damper 7, which is a contact member, is provided with an adsorption body at its tip. The adsorbent is a member that adsorbs to the structure 51 by, for example, magnetic adhesion using an electromagnet or vacuum adsorption using a suction device. The adsorption force of the adsorbent is set to be sufficiently larger than the reaction force generated in the slave arm 21 when the work tool 4 performs the spraying operation. By adsorbing the suction damper 7 to the structure 51 using the adsorbent, it is possible to suppress the posture of the work tool 4 from becoming unstable due to the reaction force of the jet when the work tool 4 performs jet work. , the slave arm 21 can be stably supported with respect to the structure 51.

Further, in this embodiment, the suction damper 7 is attached to the third joint from the tip of the slave arm 21, as shown in FIG. Therefore, the working tool 4 attached to the tip of the slave arm 21 can be moved in three axial directions (a1, a2, and a3 directions) while the contact member (suction damper 7) is in contact with the structure 51. It is possible. This makes it possible to freely move the work tool 4 and perform work while the slave arm 21 is supported by the contact member (suction damper 7). Here, the "direction" of the three axial directions includes not only the rotational direction but also the linear direction. It is preferable that the working tool 4 is movable in at least two axial directions while the contact member is in contact with the structure 51. The working tool 4 may be movable in four or more axial directions with the contact member in contact with the structure 51. Specifically, the contact member may be attached to a joint having axes b3 and b2 shown in FIG. 2, or the like.

In this way, by providing a contact member protruding from the slave arm 21 (manipulator) and operating the contact member with the master operating device 22 while contacting the structure 51 (object to be worked on), the slave arm 21 (manipulator) can be moved by reaction force during work. Even if the stand 13 moves or shakes and may become unstable, the attitude of the slave arm 21 can be stabilized. Further, since the reaction force applied to the contact member is fed back to the master operating device 22, it becomes possible to easily remotely control the slave arm 21 without relying solely on position control using a camera image or a distance sensor. Here, it is generally possible to increase the weight of the slave arm 21 so as not to be affected by the reaction force during work, but in a configuration in which the slave arm 21 is mounted on the moving table 13, free movement is obstructed. It's not realistic because you end up doing it. Therefore, the configuration of the remote control system 1 according to this embodiment is particularly useful for manipulators used in high-place work and the like.

Further, in this embodiment, the contact member includes a contact cover 5 in addition to the suction damper 7. A plurality of contact covers 5 are attached to the slave arm 21. The contact cover 5 has a shield-shaped curved contact surface. Further, the contact cover 5 is attached to each of the plurality of joints of the slave arm 21, so that the reaction force when the contact cover 5 contacts the structure 51 is transmitted to the joint portion of the arm. Here, it is preferable that a plurality of contact covers 5 are attached to one joint, and it is preferable that the contact covers 5 are attached so that the contact surface faces the outside of the joint of the arm (outside in the bending direction). Further, the contact cover 5 may be moved so as to rotate according to the bending of the joint. Further, when attaching a plurality of contact covers 5 to one joint, the plurality of contact covers 5 may be moved with a space between them, or the contact covers 5 may be overlapped with each other according to the bending of the joint. It's good.

Further, the contact member may be constituted by the contact cover 5 having a damper structure having a buffering function like the suction damper 7.

By attaching a plurality of contact members to the slave arm 21 and protecting the joints in particular with the contact cover 5, the slave arm 21 can be easily connected to the structure 51 even when the shape of the structure 51 is complex and the work area is narrow. It is possible to prevent a sudden reaction force from being generated on the slave arm 21 due to collision with a part other than the working area, and it is also possible to support the slave arm 21 in a stable posture by the plurality of contact members.

(Remote control method)
The procedure for performing work using the remote control system 1 according to this embodiment (remote control method for a manipulator) will be explained below. In this embodiment, the method for remotely controlling a manipulator includes a first operating step, a second operating step, and a third operating step.

In the first operation step, the entire movable platform 13 is raised by the boom 12 of the aerial work vehicle 11, and the slave arm 21 is brought close to the structure 51. At this time, the tip of the slave arm 21 is bent as much as possible to make the slave arm 21 compact. In the first operation step, the movable table 13 is brought close to the structure 51 to the extent that it can come into contact with the structure 51 by extending the tip of the slave arm 21 . Here, in the first operation step, position control may be performed using a camera image or a distance sensor.

In the second operation step, the operating section of the master operating device 22 is operated by the operator, and the slave arm 21 is remotely controlled in response to the movement of the operating section. Further, in the second operation step, the suction damper 7 attached to the slave arm 21 so as to project from the slave arm 21 is gradually extended by extending the slave arm 21. Then, the suction damper 7 comes into contact with the structure 51, which is the object to be worked on, and the suction body adsorbs it. The slave arm 21 is supported by the suction damper 7 contacting (adsorbing) the structure 51 .

In the third operation step, the reaction force that the suction damper 7 receives from the structure 51 is fed back to the master operation device 22. That is, the operator senses the reaction force that the suction damper 7 receives through the operation section. For example, the operator can move the work tool 4 to the target position (work position) of the structure 51 by remotely controlling the slave arm 21 while adjusting the force so that the reaction force is within a certain range. can. That is, in the third operation step, the slave arm 21 is further remotely operated in response to the movement of the operation section of the master operation device 22 to which the reaction force is fed back. Here, even after the slave arm 21 reaches the working position, by keeping the suction damper 7 in contact with the structure 51 and leaning so that the slave arm 21's own weight is supported by the structure 51, the slave arm The tip of 21 can be stabilized. The operator can determine the position of the tip of the slave arm 21 of the working tool 4 with respect to the structure 51, and perform work involving reaction force in a stable state.

According to the above procedure, since the adsorbent is provided at the tip of the contact member (adsorption damper 7), work can be performed with the contact member adsorbed to the structure 51, and the work can be carried out on an elevated workbench. Even when an external force such as wind pressure occurs, the relative position with respect to the structure 51 can be stabilized. In addition, the reaction force caused by the injection can be countered by the adsorption force. Further, as in the present embodiment, by attaching the contact member to the third joint from the tip of the slave arm 21, the contact member can be attached to the tip of the slave arm 21 while being attracted to the structure 51. The working tool 4 can be operated in three axial directions.

In the manipulator remote control method, approaching and contacting the structure 51 may be performed by moving the movable table 13 using the boom 12 and manipulating the joints of the slave arm 21 regarding the axes b1, b2, and b3. After the contact member is brought into contact with the structure 51, the distance between the contact member and the structure 51 may be adjusted by operating the joints regarding the axes a1, a2, and a3 on the distal end side. Among the six degrees of freedom (six axes) of the slave arm 21, the roles may be divided between the three degrees of freedom (three axes) on the tip side and the other three degrees of freedom (three axes).

<Second embodiment>
3 and 4 are partially enlarged views of the remote control system 1 according to the second embodiment of the present disclosure. The parts of the aerial work vehicle 11 that are omitted in FIGS. 3 and 4 are the same as in FIG. 1. The remote control system 1 according to the present embodiment differs from the first embodiment in that the contact member is a contact damper 3 in which an adsorbent is not provided. In order to avoid redundant explanation, configurations different from the first embodiment will be explained below.

In this embodiment, since there is no adsorption to the structure 51 by the adsorbent, the slave arm 21 is kept in contact with the structure 51 so that the slave arm 21 does not separate from the structure 51 due to the reaction force caused by the jet from the work tool 4. Appropriately adjust the pressing force of the damper 3. That is, in the present embodiment, when the work tool 4 performs "work that involves a reaction force," the control device 2 determines that the reaction force that the contact member receives from the structure 51 that is the work object is the "reaction force." control so that the reaction force is greater than the reaction force caused by "work involving work". “Work involving reaction force” is a jetting work in which a projectile is jetted from the working tool 4 toward the structure 51 .

When working with the work tool 4, first, the joint angle of the slave arm 21 on the distal side of the joint to which the contact damper 3 is attached is fixed. Then, a pressing force greater than the reaction force caused by the injection is applied to the contact damper 3 so that the contact damper 3 contracts to the stroke end on the side of the main body of the slave arm 21 (opposite the tip side) from the joint to which the contact damper 3 is attached. The contact damper 3 is pressed against the structure 51 while applying the pressure. Here, the joints on the main body side of the slave arm 21 can have a sufficiently larger joint torque than the reaction force caused by the injection. At this time, by leaning the slave arm 21 vertically below the contact damper 3 on the structure 51, the contact damper 3 may be pressed against the structure 51 using gravity. In this way, by pressing the contact damper 3 against the structure 51 within the contraction stroke range of the contact damper 3, the reaction force that the contact damper 3 receives from the structure 51 can be made larger than the reaction force due to the injection. In addition, it is possible to prevent the slave arm 21 from separating from the structure 51 due to the reaction force caused by the injection.

In this embodiment, since the contact damper 3 without an adsorbent is used, the position of the contact damper 3 can be immediately shifted with respect to the structure 51, and the working tool 4 can be moved in parallel or directed in any direction. It is possible to do so. In other words, the configuration of this embodiment can increase the degree of freedom of movement of the working tool 4.

<Third embodiment>
FIG. 5 is a partially enlarged view of the remote control system 1 according to the third embodiment of the present disclosure. The parts of the aerial work vehicle 11 that are omitted in FIG. 5 are the same as those in FIG. 1. The remote control system 1 according to the present embodiment differs from the first and second embodiments in the mounting positions of the working tool 4 and the contact member on the slave arm 21. In order to avoid redundant explanation, configurations that are different from the first embodiment and the second embodiment will be explained below.

In this embodiment, a contact member (adsorption damper 7) including an adsorption body is attached to the tip of the slave arm 21, and a working tool 4 is attached to the third joint from the tip of the slave arm 21. There is. With this configuration, the working tool 4 is movable in three axial directions (a1, a2, and a3 directions) with respect to the contact member. Further, the suction damper 7 itself has two movable parts (c1 and c2 in FIG. 5), and is movable in two axial directions relative to the tip of the slave arm 21.

In this embodiment, the contact member is brought into contact with the structure 51 to cause the adsorbent to be adsorbed to the structure 51, and then the direction of the working tool 4 attached to the third joint from the tip of the slave arm 21 is determined. Steps are executed. Then, the work tool 4 injects the projectile while the angle of each joint of the slave arm 21 is fixed. At this time, the working tool 4 has a degree of freedom in two axial directions with respect to the structure 51 in addition to the degree of freedom in the three axial directions of the contact member, so it has a total degree of freedom in five axial directions. There is. In other words, with the configuration of this embodiment, the working tool 4 is movable in five axial directions, further increasing the degree of freedom of movement.

The configuration of this embodiment is particularly useful when the control device 2 can only obtain a reaction force from the tip of the slave arm 21 (cannot obtain a reaction force from an intermediate joint). Here, the attachment position of the working tool 4 is not limited to the third joint from the tip. However, since it is preferable that the working tool 4 is movable in at least two axial directions relative to the contact member, it is attached to a joint related to the axis a2 or a joint closer to the main body. When the working tool 4 is attached to a joint about the axis b3, for example, the working tool 4 has degrees of freedom in six axial directions with respect to the structure 51. Further, the contact member may have three or more movable parts. Further, a degree of freedom may be provided between the working tool 4 and the joint of the slave arm 21 so that the working tool 4 can be moved relative to the joint.

Hereinafter, the effects of the present disclosure will be specifically explained based on Examples, but the present disclosure is not limited to these Examples.

(Example)
In this example, the remote control system 1 shown in FIGS. 3 and 4 was used. As the slave arm 21, a vertically articulated robot arm having six degrees of freedom joints was used. The vertical articulated robot arm used as the slave arm 21 has a main body weight of 40 kg, a maximum reach length of 1300 mm, and a maximum payload of 12 kg.

As the master operating device 22, a vertically articulated robot arm having six degrees of freedom joints was used.

The aerial work vehicle 11 was a general work vehicle used for maintenance inspections, cleaning work, etc. at steel plants. The maximum height of boom 12 was 50 m. Further, the maximum load capacity of the aerial work vehicle 11 was 200 kg.

As the working tool 4, a high pressure washer (cleaning nozzle) with a water pressure of 100 MPa was attached to the tip of the slave arm 21. The high pressure washer weighs 5 kg and can be carried by hand. This high-pressure washer can be used to complete the work for about an hour without any problems, even if the work is done manually. A high-pressure washer attached to the tip of the slave arm 21 was used to clean the steel structure of dust and remove rust from the surface.

For comparison, manual work was performed using the same high-pressure washer. In manual work using a high-pressure washer, when the mobile platform 13 of the aerial work vehicle 11 is raised to a height of 40 m, it sways about ±100 mm due to the influence of the wind, resulting in uneven cleaning and cleaning. occurred.

As an example, the slave arm 21 to which the contact damper 3 was attached was mounted on the same moving platform 13 and raised to a height of 40 m. While the moving platform 13 was shaking, when the slave arm 21 was extended using the master operating device 22 and the contact cover 5 at the joint was pressed against a steel structure, the shaking of the slave arm 21 could be suppressed. Ta.

While the height of the movable table 13 remained unchanged, the slave arm 21 was placed against the steel structure by the contact cover 5, and the movable table 13 was moved horizontally by 1 m. At this time, in the operation of the master operating device 22, the force was adjusted so that the reaction force from the slave arm 21 was within a certain range.

The movement of the moving platform 13 was stopped in the target work area. In the target work area, cleaning and cleaning work was performed on an area of 50 cm x 50 cm of the steel structure only by remote control of the slave arm 21.

The image from the camera attached to the slave arm 21 was displayed on the monitor in the control room 14, but during the work, the steel structure could hardly be seen due to the water film from the high-pressure washer. However, by remote control while keeping the reaction force from the contact damper 3 constant, the distance between the high-pressure washer and the steel structure could be kept constant, and the cleaning and cleaning operations could be performed stably.

As described above, the remote control system 1 and the manipulator remote control method according to the embodiment of the present disclosure have the above-described configuration and steps to stabilize the posture of the manipulator with respect to the work object when the manipulator is remotely controlled. This prevents sudden force from acting on the manipulator. Therefore, the remote control system 1 and the remote control method for a manipulator according to the embodiment of the present disclosure enable the manipulator to be easily remotely controlled.

Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various changes or modifications based on the present disclosure. It should therefore be noted that these variations or modifications are included within the scope of this disclosure. For example, the functions included in each component or each step can be rearranged to avoid logical contradictions, and multiple components or steps can be combined or divided into one. It is. Embodiments according to the present disclosure can also be realized as a program executed by a processor included in the device or a storage medium recording the program. It is to be understood that these are also encompassed within the scope of the present disclosure.

In the above embodiment, the adsorption damper 7 having an adsorption body at its tip is illustrated as the contact member, but another member may be used at the tip of the contact member. For example, a sliding body that slides along the structure 51 may be provided at the tip of the contact member. Further, for example, a locking body such as a suspension hook that locks onto the structure 51 may be provided at the tip of the contact member. Further, a plurality of different members may be used in combination at the tip of the contact member. Further, a contact member having a member having multiple functions at its tip may be used. For example, in the first embodiment, an adsorbent and a sliding body can be combined, and the adsorbent can be configured with a sliding body such as a wheel (roller) or a crawler. In this case, it becomes possible to move the suction damper 7 by sliding it along the structure 51 while the suction body is adsorbed to the structure 51, so that the reaction force applied to the contact member can be smoothly and accurately applied. I can tell you. Moreover, the contact member can be moved stably.

Although the above embodiments have mainly been described using high-place work as an example, the remote control system 1 and the remote control method of the manipulator according to the embodiments of the present disclosure can be applied not only to high places but also to difficult places, high-temperature environments, and dusty environments. It can be used in all types of work performed in buildings or structures that are difficult to access.

1 Remote control system 2 Control device 3 Contact damper (contact member)
4 Work tools (end effector)
5 Contact cover (contact member)
7 Adsorption damper (contact member)
11 Aerial work vehicle 12 Boom 13 Mobile platform (aerial work platform)
14 Operation room 21 Slave arm (manipulator)
22 Master operating device 23 Cable 51 Structure (work object)

Claims (9)

a master operating device including an operating section;
a manipulator equipped with a work tool that performs work that involves a reaction force on a work target;
a contact member attached to the manipulator so as to protrude from the manipulator and comes into contact with the workpiece;
A remote control system comprising: a control device that feeds back a reaction force that the contact member receives from the work object to the master control device, and remotely controls the manipulator in response to movement of the control section. The remote control system according to claim 1, wherein the work involving the reaction force is a jetting work in which a projectile is jetted from the work tool to the work object. The remote control system according to claim 1 or 2, wherein the contact member has a damper structure. The remote control system according to any one of claims 1 to 3, wherein an adsorbent that adsorbs to the work object is provided at a tip of the contact member. The remote control system according to any one of claims 1 to 4, wherein a sliding body that slides along the work object is provided at a tip of the contact member. Any one of claims 1 to 5, wherein the contact member is attached to a position where the work tool is movable in at least two axial directions while the contact member and the workpiece are in contact with each other. The remote control system described in . The control device is configured such that when the work tool performs work accompanied by the reaction force, the reaction force that the contact member receives from the work object is larger than the reaction force generated by the work accompanied by the reaction force. The remote control system according to any one of claims 1 to 6, wherein the remote control system controls the remote control system according to any one of claims 1 to 6. The remote control system according to any one of claims 1 to 7, wherein the manipulator is mounted on a movable platform. A method for remotely controlling a manipulator equipped with a work tool that performs work with a reaction force on a work object, the method comprising:
remotely controlling the manipulator to correspond to the movement of the operating section of the master operating device;
bringing a contact member attached to the manipulator into contact with the workpiece so as to protrude from the manipulator;
A method for remotely operating a manipulator, comprising the step of feeding back a reaction force that the contact member receives from the work object to the master operating device.

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