JPH06182681A - Robot remote control evaluating device - Google Patents

Abstract

PURPOSE:To calculate and evaluate the attitude/orbit of a robot and the joint angle of a robot arm when the robot arm is moved and transmit the data to the robot when the evaluation is satisfactory in a robot remote control evaluat ing device evaluating the remote control of the robot. CONSTITUTION:The robot remote control evaluating device is provided with a robot motion simulation section 22 calculating the attitude angle/orbit position of a robot based on the target value of a robot arm, a robot arm motion simulation section 23 calculating the state quantity of the robot arm based on the target value of the robot arm, and an error detection section 25 detecting the errors between the calculated attitude angle/orbit position of a robot and the state quantity of the robot arm and the target values (or target values specified in advance). The errors detected by the error detection section 25 are outputted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot remote control evaluation device for evaluating remote control of a robot.

A remote-controlled robot, for example, a space robot, is an artificial satellite that carries out operations such as assembling a space station and replenishing supplies with an on-board robot arm that is remotely controlled from the ground. By operating a master arm placed on the ground, a robot arm equipped with a space robot that operates in conjunction with this is driven.
Therefore, when the master arm is operated, the target value of the robot arm joint angle output from the master arm is sequentially transmitted to the space robot as a remote operation command. The space robot side drives the robot arm equipped with the space robot based on the target value of the robot arm joint angle.

The space robot has a limited communication capacity due to the weight limitation of the communication device and the power consumption limitation. Therefore, when transmitting from the ground, the target value of the robot arm joint angle is compressed by sampling etc. to reduce the data amount, and the space robot side reproduces the original target value of the robot arm joint angle data by data interpolation etc. , Drive a robot arm equipped with a space robot. At this time, it is necessary to evaluate the validity of the target value of the robot arm joint angle which is a remote control command.

[0004]

2. Description of the Related Art Conventionally, a remote control of a space robot has been performed from the same viewpoint as that of a ground robot by using a robot arm operation simulator for simulating the operation of a robot arm mounted on the space robot. The position error of the robot arm is measured, and the validity of the target value of the robot arm joint angle is evaluated.

The conventional technique will be described below. (1) Phenomena that occur during remote control of space robots. Phenomena that occur during remote control of space robots include the side of artificial satellites and the side of robot remote control.

Side of artificial satellite: Since the space robot is flying in a weightless space, when the robot arm equipped with the space robot is driven, the space robot body receives a reaction and the posture is rotated and the orbit is moved. To do.

Aspects of Remote Control of Robot: It takes a long time to reach a command because a remote control command is transmitted (a time delay occurs). Further, since the transmission amount is limited, it is necessary to reduce the data amount (data compression / reproduction).

(2) Conventional technology Attitude control / moving a movable object mounted on an artificial satellite
Orbit control is done.

Simulations of attitude / orbital motions of satellites have been performed. The motion of a robot fixed on the ground is simulated in advance to confirm its operation.

Simulations of characteristics of a communication device such as time delay and data compression / reproduction are performed.

[0011]

As described above, the space robot, unlike the ground robot, flies in the weightless space, so that when the robot arm equipped with the space robot is driven, the space robot body causes a reaction. receive,
Posture rotation and orbit movement occur. Usually, an attitude control device and an orbit control device are mounted to hold the attitude and orbit of the space robot. Depending on the direction and speed of movement of the robot arm, the posture / trajectory cannot be stably maintained. Space robots are
The communication antenna is always directed to the ground, and if the attitude / orbit of the space robot changes, the direction of the antenna changes, and communication with the ground is interrupted and remote control becomes impossible.

Therefore, the conventional method ignoring the attitude motion / orbital motion of the space robot has a problem that the robot arm mounted on the space robot cannot be remotely controlled in a stable manner. Further, not only the space robot, but also when it is floated on oil, there is a problem that the fulcrum disappears and the posture and position of the robot main body move due to the reaction of the robot arm.

The present invention solves these problems.
Calculate and evaluate the posture / trajectory of the robot along with the movement of the robot arm and the joint angle of the robot arm.
The purpose is to send data to the actual machine (robot) when the evaluation is good.

[0014]

[Means for Solving the Problems] Means for solving the problems will be described with reference to FIG. In FIG. 1, the robot motion simulation unit 22 uses the target value of the robot arm as a basis.
The posture angle / trajectory position of the robot is calculated.

The robot arm operation simulation unit 23 calculates a robot arm state quantity (for example, a joint angle) based on a target value of the robot arm. Error detector 3
Reference numeral 5 is for detecting an error between the calculated posture angle / trajectory position and robot arm state quantity and the target value (or a target value designated in advance).

[0016]

In the present invention, as shown in FIG. 1, the robot motion simulating section 22 calculates the posture angle / trajectory position of the robot based on the target value of the robot arm, and the robot arm motion simulating section 23 determines the robot arm motion. The robot arm state quantity is calculated based on the target value, and the error detection unit 35 detects an error between the calculated posture angle / trajectory position of the robot and the robot arm state quantity and the target value (or a preset target value). Then
The detected error is output.

At this time, the error detected by the error detection unit 35 is evaluated as good when it is within the predetermined error allowable value range, and is judged as bad when it is outside the error allowable value range, and is output.

Further, the error detected by the error detection unit 35 is evaluated as good when it is within a predetermined error allowable value range, and the target value of the robot arm is transmitted to the remote operation target robot (or Drive), meanwhile,
Suppress sending of the target value of the robot arm to the remotely operated robot that is evaluated as defective when it is out of the allowable error range (or suppress driving of the robot)
I am trying to do it.

Therefore, the posture / trajectory of the robot and the robot arm state quantity (for example, joint angle) accompanying the movement of the robot arm are calculated and evaluated, or data is transmitted to the actual machine (robot) when the evaluation is good. It becomes possible to do.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the construction and operation of an embodiment of the present invention will be described in detail with reference to FIGS. A space robot will be described below as an example.

FIG. 1 shows a block diagram of an embodiment of the present invention.
In FIG. 1, the simulation unit 10 is a ground simulation unit here, and includes a joint angle output unit 11 and a remote operation command transmission unit 12.
It is composed of

The joint angle output unit 11 outputs a target value of the robot arm state quantity (robot arm joint angle or the like) by a master arm device or a device equivalent thereto.

The remote control command transmitter 12 simulates data compression of the target value of the robot arm state quantity and transmission of data after this data compression from the ground. The robot simulating unit 20 is a space robot simulating unit here, and includes a remote operation command receiving unit 21 and a robot motion simulating unit 2.
2 and the robot arm operation simulation unit 23.

The remote operation command receiving section 21 receives the target value of the robot arm state quantity of the space robot transmitted from the remote operation command transmitting section 12, and simulates the reproduction of the original target value from the received target value. Is.

The robot motion simulating unit 22 is a space robot motion simulating unit in this case, and operates / moves the robot arm.
It simulates the attitude angle and the orbit position of the space robot including the influence of the attitude control / orbit control, and calculates the attitude angle / orbit position of the robot based on the target value of the state quantity of the robot arm.

The robot arm operation simulation unit 23 simulates the operation of the robot arm mounted on the space robot, and based on the target value of the robot arm state quantity, the robot arm state quantity (joint angle, tip position). , Posture) is calculated.

The remote operation command evaluation section 30 evaluates a remote operation command, and comprises an error detection section 35, an evaluation display section 33, and a transmission determination section 34. The error detection unit 35 calculates the calculated posture angle of the robot /
An error detector for detecting an error between a trajectory position and a robot arm state quantity and a target value (or a preset target value), which is composed of a posture error / trajectory error detecting section 31 and an arm state quantity error detecting section 32. Is.

The posture error / trajectory error detection unit 31 detects a posture error and a trajectory error of the robot.
Based on the posture angle and the trajectory position which are simulated by the robot motion simulating unit 22, an error from a preset target value is detected (see FIG. 2).

The arm state amount error detection unit 32 detects an error in the state amount of the robot arm, and the state amount of the robot arm (joint angle, tip end Position, posture)
This is to detect an error from the commanded target value (Fig. 2
reference).

The evaluation display section 33 displays the error detected by the error detection section 35, and also displays the fact when the target value is exceeded. The transmission determination unit 34 transmits the robot arm state quantity target value to the actual robot 40 when the evaluation result is good, and suppresses the transmission of the robot arm state quantity target value when the evaluation result is bad. is there.

The actual robot 40 is an actual robot, and is a space robot here. Next, the operation of the configuration of FIG. 1 will be described in detail with reference to FIG.

In FIG. 2, in S1, the ground simulator 10 of FIG. 1 generates a target value of the robot arm joint angle. For example, an operator operates a robot arm of a master arm device to generate a target value of a robot arm joint angle.

S2 samples the data. This is the target value of the robot arm joint angle generated in S1,
Sampling is performed at a predetermined cycle for data compression. The robot simulation unit 20 is notified of the target value of the robot arm joint angle after this sampling and compression.

In S3, the compressed target value of the robot arm joint angle notified in S2 is interpolated to reproduce the original target value of the robot arm joint angle. S4 is
Simulate the motion of a space robot. Thereby, the posture angle and the trajectory position of the robot itself are simulated on the computer as a reaction of the movement of the robot arm to the target value of the joint angle of the robot arm.

At S5, the operation of the robot arm is simulated.
This simulates the joint angle of the robot arm on a computer in response to the movement command to the target value of the robot arm joint angle. In S6, the attitude angle / orbit position of the robot generated by the space robot motion simulation in S4 is compared with the target value of the attitude angle / orbit position input in advance, and the attitude angle error / orbit position error is detected as the error. .

In S7, the joint angle of the robot arm generated by the robot arm motion simulation in S5 is compared with a target value, and a robot arm joint angle error is detected as the error.

At S8, the error detected at S6 and S7 is displayed (see (a) of FIG. 3). In step S9, it is determined whether the respective errors (robot angle error / trajectory position error, robot arm joint angle error) detected in steps S6 and S7 are within pre-input error allowable ranges.

In step S10, it is determined in step S9 whether the error is within the allowable range, and the evaluation result is displayed. For example, the evaluation is displayed as shown in FIG. S11 is based on the evaluation result of S9.
Determine whether all are “good”. In the case of YES, all are good, and even if the robot arm mounted on the actual robot is driven by the target value of the joint angle of the robot arm, the situation in which the antenna is misaligned and transmission becomes impossible does not occur. The target value of the robot arm joint angle after the simulation is transmitted to the actual space robot in S12. On the other hand, when the evaluation result is "poor", the transmission of the target value of the robot arm joint angle to the space robot is suppressed.

As described above, regarding the target value of the robot arm joint angle, the influence on the posture and the trajectory position of the robot on the computer is within the error allowable range, and the error with the target value of the robot arm is within the error allowable range. Since it was found by simulating that it is within the driveable range, the target value of the robot arm joint angle is transmitted to the actual space robot. Upon receiving this, the actual space robot drives the robot arm to the commanded target value.

FIG. 3 shows an example of the evaluation result of the present invention. This is an example of the error display in S8 and the evaluation result display in S10 of FIG. FIG. 3A shows an example of the individual evaluation result.
Here, the space robot is a robot that flies in the universe in a weightless state, and is represented by six parameters: posture angle: Φ, Θ, Ψ, orbital position: X, Y, Z. Here, each value is the value of the center of gravity of the space robot.

The robot arm is a robot arm mounted on a space robot. Joint angles are represented by six parameters (joint angles) of θ1, θ2, θ3, θ4, θ5 and θ6.

The simulated calculated values are the posture angle / trajectory position and the robot arm joint angle of the robot simulated in S4 and S5 of FIG. The target value is a previously input target value or a commanded robot arm joint angle target value.

The error Δ is an error between the simulated calculation value and the target value. The error allowable range is a pre-input error allowable range. The evaluation is evaluated as good when the error Δ is within the error allowable range, and is evaluated as bad otherwise.

The error Δ shown in FIG. 3A is displayed as the error display in S8 of FIG. 2 and the individual evaluation is displayed as the evaluation result display in S10 of FIG. FIG. 3B shows an example of combination evaluation. Here, the state quantities are Φ, Θ, Ψ, X, Y, Z, θ1, θ as shown in the figure.
2, θ3, θ4, θ5, θ6, which represent the state quantities of FIG.

The combination 1 is judged as good as the combination evaluation when all the state quantities of the circles in the figure are good.
In the case of FIG. 3A, it is “good”. Similarly, the combination 2 is determined to be good as a combination evaluation when all the state quantities of the circles in the figure are good. In the case of (a) of FIG. 3, it is “defective”.

In the comprehensive evaluation, when all the state quantities (all state quantities) shown in the figure are all good, the combination evaluation is judged to be good. In the case of (a) of FIG. 3, it is “defective”. FIG. 3C shows an example of sampling period evaluation.
Here, the sampling time width (second) is the sampling time width (second) of the target value of the robot arm joint angle. The evaluation is performed as shown.

FIG. 3D is an explanatory diagram of the sampling cycle evaluation. -Generally, when T1> T2, Δ1> Δ2. The smaller the sampling time width T, the smaller the error Δ, but the larger the amount of data. T is required in order to reduce the data amount without increasing Δ unnecessarily, and it is necessary to determine an appropriate value of T. In the case of FIG. 3C, the sampling time width (second) is 0.001, 0.0
The evaluation is "good" when 1 and "bad" when 0.1 and 1.0.

Next, the configuration and operation of another embodiment of the present invention will be described in detail with reference to FIGS. This is another embodiment configuration and operation when the joint angle output unit 11, the ground simulation computer 13, the space robot motion simulation / remote operation command evaluation computer, and the robot arm operation simulation device 26 are used.

In FIG. 4, a joint angle output unit (joint angle output device) 11 uses a master arm device to generate a target value of a robot arm joint angle. The ground simulation computer 13 samples the robot arm joint angle data and generates a target value of the sampled robot arm joint angle.

The space robot motion simulation / remote operation command evaluation computer includes a robot arm joint angle data interpolation unit 24, a space robot motion simulation unit 25, a posture error / trajectory error detection unit 31, an arm joint angle error detection unit 32, and an evaluation display. Part 33,
And a transmission determination unit 34 and the like.
Here, 31, 32, 33, and 34 are the same as those in the configuration of FIG.

Robot arm joint angle data interpolation unit 24
Is to receive the sampled robot arm joint angle target value transmitted from the ground simulation computer 13 and interpolate it to generate the original robot arm joint angle target value.

The space robot motion simulation unit 25 simulates the attitude angle / orbit position of the space robot based on the target value of the robot arm joint angle interpolated by the robot arm joint angle data interpolation unit 24.

The robot arm operation simulation device 26 simulates the operation of the robot arm based on the target value of the robot arm joint angle from the robot arm joint angle data interpolating section 24, and generates the robot arm joint angle. is there.

In FIG. 5, S21 initializes the ground simulation computer 13. In S22, the robot arm joint angle data is sampled. This is the joint angle output unit 11
The target value of the robot arm joint angle is fetched from and sampled.

In step S23, it is determined whether or not the process is completed. If YES, then end. If NO, S22 is repeated.
Through S21 to S23 described above, the target value of the robot arm joint angle is sampled as the master arm moves, and the sampled target value of the robot arm joint angle is transmitted to the space robot motion simulation / remote operation command evaluation computer.

S31 is a robot arm operation simulator 2
Initialize 6. S32 drives the robot arm /
Measure the joint angle. These drive the robot arm drive device 27 based on the target value of the original robot arm joint angle which is interpolated and reproduced in S42, measures the joint angle at that time, and uses this as the robot arm joint angle in S45. To notify.

In step S33, it is determined whether or not the process is completed. This is S3
It is determined whether the robot arm drive / joint angle measurement of No. 2 is completed. If YES, then end. If no,
S32 is repeated.

As described above, the movement of the robot arm of the space robot is simulated based on the target value of the robot arm joint angle after interpolation, and the robot arm joint angle at that time is generated and transmitted to S45. By these, the simulation of the movement of the robot arm is executed.

In step S41, the space robot motion simulation / remote operation command evaluation computer is initialized. In S42, the robot arm joint angle data is interpolated to generate a target value of the original robot arm joint angle. The target value of the robot arm joint angle generated by this interpolation is notified to S32 and S43.

In S43, the attitude angle / orbit position of the space robot is calculated based on the target value of the robot arm joint angle notified from S42. In S44, the attitude angle error / trajectory position error is calculated. This calculates the error between the attitude angle / orbit position of the space robot calculated in S43 and the target value input in advance.

In step S45, the robot arm joint angle error is calculated. This calculates the error between the robot arm joint angle measured in S32 and the target value as the robot arm joint angle error.

In S46, the error evaluation / result is displayed. As described with reference to FIG. 3, this displays the evaluation (good or bad) by comparing the target values with respect to the error. In S47, the transmission determination is made. As described with reference to FIG. 3, this is based on the evaluation result of S46, and it is determined whether or not to transmit. When it is determined to be transmitted, the target value of the robot arm joint angle after sampling is transmitted to the space robot actual machine 40, and the robot arm is actually driven.

In step S48, it is determined whether the process is finished. If YES, then end. In the case of NO, S42 and subsequent steps are repeatedly executed. Based on the above, when the ground simulation computer 13, the space robot motion simulation / remote control command evaluation computer, and the robot arm motion simulation device 26 are evaluated based on the target value of the robot arm joint angle, the evaluation is good. Then, the target value of the joint angle of the robot arm is transmitted to the actual space robot 40, and the transmission is suppressed when the evaluation is not good.

Next, the configuration and operation of another embodiment of the present invention will be described in detail with reference to FIGS. 6 and 7. This is another embodiment configuration and operation when the joint angle output unit 11, the ground simulation computer 13, and the space robot simulation / remote operation command evaluation computer are used. Here, 11 in FIG.
13, 24, 25, 31, 32, 33, 34, 40 are
Since it is the same as that of FIG. 4, description thereof will be omitted.

In FIG. 6, the robot arm motion simulating section 23 is provided in place of the robot arm motion simulating device 26 of FIG. 4 and simulates the motion of the robot arm on a computer. . The robot arm motion simulation unit 23 calculates the robot arm joint angle on a computer based on the target value of the robot arm joint angle after being interpolated by the robot arm joint angle data interpolation unit 24. The calculated robot arm joint angle is notified to the arm joint angle error detection unit 32.

The operation of the configuration of FIG. 6 will be described in detail with reference to FIG. Here, since S51 to S53 are the same as S21 to S23 of FIG. 5, the description thereof will be omitted. In FIG. 7, S61 initializes the space robot simulation / remote operation command evaluation computer.

In S62, the robot arm joint angle data is interpolated to generate a target value of the original robot arm joint angle. The target value of the robot arm joint angle generated by this interpolation is notified to S63 and S65.

In S63, the robot arm joint angle is calculated. This calculates the robot arm joint angle based on the target value of the robot arm joint angle notified from S62.
S64 calculates the error of the joint angle of the robot arm. This calculates the error between the robot arm joint angle calculated in S63 and the target value, as described with reference to FIG.

In S65, the attitude angle / orbit position of the space robot is calculated based on the target value of the robot arm joint angle notified from S62. In S66, the attitude angle error / trajectory position error is calculated. This calculates the error between the attitude angle / orbit position of the space robot calculated in S653 and the target value input in advance.

In S67, the error evaluation / result is displayed. As described with reference to FIG. 3, this displays the evaluation (good or bad) by comparing the error with the target value. In S68, the transmission determination is made. As described with reference to FIG. 3, this is based on the evaluation result of S67, and determines whether or not to transmit. When it is determined to be transmitted, the target value of the robot arm joint angle after sampling is transmitted to the space robot actual machine 40, and the robot arm is actually driven.

In step S69, it is determined whether the process is finished. If YES, then end. In the case of NO, S62 and subsequent steps are repeatedly executed. Based on the above, the ground simulation computer 13 and the space robot simulation / remote control command evaluation computer perform evaluation based on the target value of the robot arm joint angle, and when the evaluation is good, the space robot real machine 40 is connected to the robot arm joint. The target value of the corner is transmitted, and when the evaluation is bad, the transmission is suppressed.

Next, the configuration and operation of another embodiment of the present invention will be described in detail with reference to FIGS. This is another embodiment configuration and operation when the joint angle output unit 11 and the space robot remote control command evaluation computer are used. Here, 11, 23, 24, 25, 31, 3 in FIG.
2, 33, 34, and 40 are the same as those in FIG. 6, so description thereof will be omitted.

In FIG. 8, the robot arm joint angle data sampling unit 14 samples the target value of the robot arm joint angle generated by the joint angle output unit 11 for data compression. The target value of the robot arm joint angle after sampling by the robot arm joint angle data sampling unit 14 is
The robot arm joint angle data interpolation unit 24 is notified.

The operation of the configuration of FIG. 8 will be described in detail with reference to FIG. Here, S71 and S72 to S79 are the same as S61 to S69 in FIG.
In FIG. 9, in S71-1, the robot arm joint angle data is sampled. The target value of the robot arm joint angle after sampling is notified to S72 and S78.

Based on the above, one of the space robot remote control command evaluation computers performs evaluation based on the target value of the robot arm joint angle, and when the evaluation is good, the target value of the robot arm joint angle is set in the space robot actual machine 40. Is transmitted, and the transmission is suppressed when the evaluation is bad.

[0076]

As described above, according to the present invention,
Based on the target value of the robot arm state quantity (joint angle, tip position, posture), the posture angle / trajectory position of the robot is calculated, the state quantity of the robot arm is calculated, and the calculated posture angle / trajectory position of the robot and The error between the state quantity of the robot arm and the target value (or the target value specified in advance) is detected, and it is evaluated as good when the error is within the predetermined error allowable value range and evaluated as bad when it is outside the error allowable value range. Since the configuration is such that the target value of the robot arm is transmitted to the actual robot when the evaluation is good, the posture and trajectory of the robot accompanying the movement of the robot arm and the joint angle of the robot arm are calculated and evaluated. Alternatively, data can be transmitted to the actual machine (robot) when the evaluation is good. With these, not only the movement of the robot arm,
In consideration of the posture motion and orbital motion of the robot generated by driving the robot arm such as a space robot, the validity of the target value of the robot arm joint angle which is a remote control command is evaluated, and further data compression and data interpolation are performed. It is possible to evaluate the adequacy of the space robot and prevent the communication interruption that may occur during remote control of the space robot, which greatly contributes to the improvement of the remote control performance of the space robot. be able to.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an embodiment of the present invention.

FIG. 2 is an operation explanatory diagram of the present invention.

FIG. 3 is an example of an evaluation result of the present invention.

FIG. 4 is a configuration diagram of another embodiment of the present invention.

5 is an operation explanatory diagram of FIG. 4;

FIG. 6 is a configuration diagram of another embodiment of the present invention.

FIG. 7 is an operation explanatory diagram of FIG. 6;

FIG. 8 is a configuration diagram of another embodiment of the present invention.

9 is an operation explanatory diagram of FIG. 8;

[Explanation of symbols]

 10: Simulation unit 11: Joint angle output unit 12: Remote operation command transmission unit 13: Ground simulation computer 14: Robot arm joint angle data sampling unit 20: Robot simulation unit 21: Remote operation command reception unit 22: Robot motion simulation unit 23 : Robot arm motion simulation part 24: Robot arm joint angle data interpolation part 25: Space robot motion simulation part 26: Robot arm motion simulation device 27: Robot arm drive device 30: Remote operation command evaluation part 31: Attitude error / trajectory error detection Part 32: Arm state amount error detection part 33: Evaluation display part 34: Transmission determination part 35: Error detection part 40: Robot actual machine

Claims (3)

[Claims] 1. A robot remote control evaluation device for evaluating remote control of a robot, comprising: a posture angle of a robot based on a target value of a robot arm;
A robot motion simulation unit (22) that calculates the trajectory position, a robot arm motion simulation unit (23) that calculates the state amount of the robot arm based on the target value of the robot arm, and the calculated posture angle / An error detection unit (35) for detecting an error between the trajectory position and the state amount of the robot arm and the target value (or a target value designated in advance) is provided, and the error detected by the error detection unit (35) is output. A robot remote control evaluation device having the above structure. 2. The error detecting section (35) is configured to evaluate and output as good when the error detected is within a predetermined error allowable value range and defective when outside the error allowable value range. The robot remote-operation evaluation device according to claim 1, wherein 3. When the error detected by the error detection unit (35) is within a predetermined error tolerance value range, it is evaluated as good and the target value of the robot arm is transmitted to the remote controlled robot. (Or drive a robot),
On the other hand, when the error is out of the allowable error range, it is configured to be evaluated as defective and to prevent the target value of the robot arm from being transmitted to the remotely operated robot (or to prevent the robot from being driven). The robot remote control evaluation device according to claim 1, wherein