Title:
REMOTE OPERATION DEVICE
Document Type and Number:
Japanese Patent JP2023083925
Kind Code:
A
Abstract:
To provide a remote operation device that can present a wide range of contact reaction force to an operator even under a severe environment.SOLUTION: A remote operation device according to the present invention comprises a working robot 7, a control part, and an inner force sense presentation interface 2. The working robot 7 comprises a hand part 73 having a finger part 71 and a wrist part 7300. The wrist part 7300 is fixed with the finger part 71 and is provided with a plurality of cylinders 7301 arranged in parallel and a base 7302. The cylinders 7301 can be extended and contracted, which are rotatably connected to the base 7302. The control part comprises: a wrist part control part 64 that makes the cylinders 7301 extend and contract; a cylinder length sensor 66 that measures lengths of the cylinders; a control input sensor 65 that measures loads for extending and contracting the cylinders 7301; a wrist part-posture calculating part 51 that calculates a posture of the wrist part 7300; a cylinder load calculating part 52 that calculates loads of the cylinders; and a reaction force calculating part 53 that calculates contact reaction force of the hand part 73 from the posture of the wrist part 7300 and the loads of the cylinders.SELECTED DRAWING: Figure 2
Inventors:
NAGAI TAKAHIRO
KOBAYASHI RYOSUKE
HIRANO KATSUHIKO
UENO KATSUNOBU
KOBAYASHI RYOSUKE
HIRANO KATSUHIKO
UENO KATSUNOBU
Application Number:
JP2021197932A
Publication Date:
June 16, 2023
Filing Date:
December 06, 2021
Export Citation:
Assignee:
HITACHI GE NUCLEAR ENERGY LTD
International Classes:
B25J3/00
Attorney, Agent or Firm:
Polaire Patent Attorneys Corporation