US 12,280,498 B2
Remote control system
Taizo Yoshikawa, Saitama (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Feb. 15, 2023, as Appl. No. 18/169,217.
Claims priority of application No. 2022-035677 (JP), filed on Mar. 8, 2022.
Prior Publication US 2023/0286139 A1, Sep. 14, 2023
Int. Cl. B25J 3/00 (2006.01); B25J 9/16 (2006.01); B25J 13/02 (2006.01); B25J 15/00 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 9/1607 (2013.01); B25J 9/1689 (2013.01); B25J 9/1692 (2013.01); B25J 13/02 (2013.01); B25J 15/0009 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A remote control system in which an operator remotely operates an end effector comprising a finger, the remote control system comprising:
a coordinate origin setting part for setting coordinate origins of the operator and the end effector;
an operator joint angle information acquisition part for acquiring information on a joint angle of a finger of the operator;
an operator finger length measurement part for measuring a length of each link of the finger of the operator;
an operator fingertip position calculation part for calculating a tip position of each finger of the operator viewed from a local coordinate origin of an operator model to be a fingertip position of the operator from information acquired by the operator joint angle information acquisition part and the operator finger length measurement part; and
an end effector joint angle derivation part for deriving a joint angle of the end effector from the fingertip position of the operator and a local coordinate origin of the end effector by inverse kinematics.