Predictive force display for tele-handling/machining system

With the development of virtual reality, tele-existence and remote collaboration technologies, it has become possible for a human being to operate a machine and handle objects in worlds that are in remote locations, vastly different in scale from the human world, or in which the governing physical laws are different from those in the normal human world. To develop such a system, it is necessary to create an environment in which an operator feels as if he/she were in the world where the remote machine actually exists by transmitting a readily perceivable impression of that world. In this paper, the authors use the machining center in the remote machine site for a telehandling/machining system and propose a method of predictive force display for telemachining. Specifically, a force smoothing method and the method of identification of the working environment for predictive force display are proposed