HILS(Human In-The-Loop System) 환경 구성을 위한 모션 시트 설계

Abstract

One of the most difficult factors to operate Remotely Operated Vehicle (ROV) is robot motion and posture estimation. The operator must estimate the robot's posture and motion with limited camera information and inertial navigation sensor. This causes loss or damage of ROV. In this study, we designed a motion seat which reproduce the ROV motion and posture. We conducted a motion analysis of the rover to effectively reproduce the rover movement and posture information, and designed the motion seat in consideration of the payload, size and weight. The motion seat verification experiments were conducted by comparison of motion command input and measured output. The experiment results showed the reasonable motion reproduction with small delay and alignment error.