Study on measure to shorten work time, through the haptic device in teleoperation system

When controlling the slave device through the teleoperation, the haptic device is often used as the master device. Recently, the image information through the camera and the virtual guide are used for the stability of the teleoperation. In this study, it is assumed that the freedom constraint of the master device will shorten the work time of the teleoperation work and increase the accuracy of the teleoperation work. Experiments were carried out through three kinds of freedom constraint cases and the position data of the master and slave devices were analyzed. Experimental results show that it reduces the working time and increase accuracy for teleoperation work using the freedom constraint of the master device.