A tele-operation support system with the help of dual views of cartesian and configuration space

In this paper we propose dual views of cartesian and configuration space as a tele-operation support system. To overcome a transmission delay between master and slave robots, we use a 3-D graphics display besides a master robot, which virtually represents a slave robot and its environment (a slave site). In this system, an operator picks up a sequence of good motions of a slave robot while watching the 3-D graphics display. In this case, we discuss what kinds of graphics images care needed for an operator to select each robot motion adequately. In this paper, we prepare not only cartesian space of a slave site but also its configuration space as graphics images. Moreover, the configuration space is expressed by not only a 3-D whole space but also its 2-D sliced image. Finally, usefulness and efficiency of the visual support system are ascertained in some experiments by several test subjects.