Robot arm remote operation system and method

Abstract

To improve workability of remote work performed by a robot arm.SOLUTION: A robot arm remote operation system 10 includes: an operation device 12 for outputting operation information such as a position of a hand of a robot arm 11; a control command calculation unit 13 for outputting a control command for the position of the hand on the basis of the operation information from the operation device and real information such as the present position of the hand; an environment-side virtual object model 15 having a shape corresponding to work contents for a work target object; a robot-side virtual object model 16 having a shape defined for the robot arm so as to correspond to the work contents; a contact detection unit 17 for detecting contact between both virtual object models caused by movement of the robot arm; and a virtual reaction force calculation unit 18 for calculating virtual reaction force on the basis of an amount of contact between both virtual object models. Therein the control command calculation unit outputs an operation device control command for causing an operator side of the operation device to reproduce the virtual reaction force as perceivable force, and the operation device presents the force based on the operation device control command to the operator side.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a robot arm remote control system and a robot arm remote control method. [Background technology]

[0002] In order to reduce manpower and dangerous work, there is a demand for robotic arms to be used to inspect and maintain equipment in remote plants and power generation facilities, as well as in facilities in harsh environments. For example, an operator could remotely control a robot equipped with a mobility function, manipulator, camera, etc. to inspect and maintain equipment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-25254 Summary of the Invention [Problem to be solved by the invention]

[0004] Inspection and maintenance work performed by humans at plants and power generation facilities includes the turning of valves and machining work using tools. In these tasks, humans adjust the tool position and pressing force while sensing the friction and sticking of the valve drive parts, the unevenness of the surface of the workpiece, and the reaction force from the tool, and move their hands flexibly to perform the work.

[0005] When these tasks are replaced by remote-controlled robots, the operator needs to be able to detect the aforementioned hardness, unevenness, reaction forces, etc. felt by the human hand. A widely known method for achieving this is called bilateral control, in which the operator uses an operating device to control the hand position of the robot arm, and the operating device reproduces the reaction forces acting on the robot arm, allowing the operator to sense them.

[0006] However, even if a control method for presenting the work reaction force to the operator is used, there is a problem that it is difficult to perform the work with the same feeling as if a human were holding it in his / her hand due to the method of reproducing the force, the accuracy, communication delays, etc. Furthermore, such a problem causes a discrepancy in the position, posture, and force between the desired movement on the robot side and the operation on the operator side. If this discrepancy continues, it becomes impossible to perform a specified movement, and in particular, work that requires precision in the position and posture of the hand becomes difficult. In addition, there is also a problem that efficiency decreases when the shape of the work object and the distance to the work object are checked to eliminate the discrepancy.

[0007] A method is known in which a virtual wall (hereinafter, virtual guide) is provided so that the position and posture of the robot arm's hand can be guided to a desired state even if the above-mentioned deviation state occurs, and the operator can easily operate the robot arm's hand to a target position while perceiving the contact reaction force between the robot arm's hand and the virtual guide (Patent Document 1). However, the method described in Patent Document 1 only provides a virtual guide on the side of the work object on which the robot works, and aims to guide the robot arm's hand to the work object. The expected operation is a simple positioning operation such as fitting, and valve operation or tool handling is not expected, and the problem is that the type of work to which the method can be applied is limited.

[0008] The embodiments of the present invention have been made in consideration of the above-mentioned circumstances, and aim to provide a robot arm remote control system and a robot arm remote control method that can improve the workability of remote work using a robot arm. [Means for solving the problem]

[0009] A robot arm remote operation system according to an embodiment of the present invention provides a robot arm remote operation system for remotely operating a hand of a robot arm performing remote work by guiding the position of the hand and a force acting on the hand to desired values, the system comprising: an operation device for inputting operation information consisting of a desired position of the hand of the robot arm and a desired force to be applied to the hand, and outputting the position of the hand of the robot arm and the force to be generated at the hand; a control command calculation unit for outputting, to the robot arm, a control command relating to the position of the hand and the force to be applied to the hand, based on the operation information from the operation device and reality information relating to the actual position of the hand of the robot arm and the applied force; and an environment side virtual object model virtually provided, which is defined in a shape corresponding to the work content for the work object, and whose position and orientation are set to be actual position and orientation based on information acquired from an information acquisition device including a sensor or a camera. the virtual object model is configured to display an image of the environment side virtual object model and a virtual reaction force calculation unit that calculates a virtual reaction force generated between the virtual object models based on an amount of contact between the environment side virtual object model and the robot side virtual object model, and the control command calculation unit outputs an operation device control command for reproducing the virtual reaction force calculated by the virtual reaction force calculation unit as a force perceptible to an operator operating the operation device, and the operation device is configured to present the perceptible force based on the operation device control command to the operator.

[0010] Further, in a robot arm remote control method according to an embodiment of the present invention, a robot arm remote control method for remotely controlling a hand of a robot arm performing remote work by guiding a position of the hand and a force acting on the hand to desired values, the method includes: a virtually provided environment-side virtual object model having a shape defined in accordance with the work content for the work object, and a position and orientation set to be actual position and orientation based on information acquired from an information acquisition device including a sensor or a camera; and a virtually provided robot-side virtual object model having a shape defined for the robot arm so as to correspond to the work content, and a position and orientation set to be actual position and orientation based on information acquired from an information acquisition device including a sensor or a camera. a step of a contact detection unit detecting contact between the environment-side virtual object model and the robot-side virtual object model due to movement of the robot arm; a step of a virtual reaction force calculation unit calculating a virtual reaction force generated between these virtual object models based on an amount of contact between the environment-side virtual object model and the robot-side virtual object model; and a step of a control command calculation unit outputting an operation device control command for reproducing the virtual reaction force calculated by the virtual reaction force calculation unit as a force perceptible to an operator operating an operation device, thereby causing the operation device to present the perceptible force based on the operation device control command to the operator. Effect of the Invention

[0011] According to an embodiment of the present invention, it is possible to improve the workability of remote work using a robot arm. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing the configuration of a robot arm remote control system according to a first embodiment. [Diagram 2] FIG. 2 is an operational diagram showing the positional relationship between a handle front surface guide and a handle back surface guide as an environment-side virtual object model in FIG. 1 and the tip of a robot arm. [Diagram 3] FIG. 3 is a view taken along the line III in FIG. 2 . [Figure 4] An operational diagram showing the state in which the hand of the robot in Figure 2 is inserted between the spokes of a valve handle. [Diagram 5] 2 is an operational diagram showing the positional relationship between a hand guide as a virtual object model on the robot side in FIG. 1 and a handle front surface guide and a handle back surface guide. [Figure 6] FIG. 11 is an operational diagram showing the positional relationship between a machining target guide as an environment-side virtual object model and a machining tool guide as a robot-side virtual object model in a robot arm remote control system according to a second embodiment. [Figure 7] 5A to 5C are diagrams illustrating the state in which a workpiece is machined by a machining tool. [Figure 8] FIG. 11 is an operational diagram for explaining a state when a processing position is changed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [A] First embodiment (FIGS. 1 to 5) Fig. 1 is a block diagram showing the configuration of a robot arm remote operation system according to the first embodiment. The robot arm remote operation system 10 shown in Fig. 1 remotely operates the hand 11A of the robot arm 11 by guiding the position and posture of the hand 11A of the robot arm 11 performing the remote operation and the force acting on the hand 11A to desired values ​​with respect to a work target 1, and is configured with an operation device 12, a control command calculation unit 13, an actual reaction force calculation unit 14, an environment-side virtual object model 15, a robot-side virtual object model 16, a contact detection unit 17, and a virtual reaction force calculation unit 18.

[0014] The operation device 12 is used by an operator to remotely operate the robot arm 11 installed at a remote location, and has a first operation device function and a second operation device function. The first operation device function is a function for outputting operation information (position operation information a, force operation information b) relating to the position and posture of the hand 11A of the robot arm 11 and the force to be applied to the hand 11A to the control command calculation unit 13. In addition, this operation device first function inputs operation information consisting of a desired position of the hand 11A of the robot arm 11 and a desired force to be applied to the hand 11A, and outputs the position of the hand 11A of the robot arm 11 and the force to be generated by the hand 11A. The second operation device function will be described later.

[0015] The control command calculation unit 13 has a first calculation unit function for outputting a robot arm control command c to the robot arm 11, and a second calculation unit function (described later) for outputting an operation device control command d to the operation device 12. The first calculation unit function is a function for outputting a robot arm control command c relating to the position, posture, and force to the robot arm 11 based on operation information (position operation information a, force operation information b) from the operation device 12 and reality information (hand tip current position information e, actual reaction force information f) relating to the actual position of the hand tip 11A of the robot arm 11 and the applied force, in order to set the position and posture of the hand tip 11A relative to the robot arm 11 and the force applied to the hand tip 11A to desired values.

[0016] Here, the actual reaction force information f is output from the actual reaction force calculation unit 14 to the control command operation unit 13. That is, for example, a force sensor 19 installed on the robot arm 11 measures the force actually applied to the hand 11A of the robot arm 11. The actual reaction force calculation unit 14 calculates the reaction force (actual reaction force) actually occurring between the work object 1 and the hand 11A based on a force measurement signal g from the force sensor 19. Also, the hand current position information e is measured by a position sensor 20 such as an encoder installed on the robot arm 11.

[0017] The environment-side virtual object model 15 is a calculation model of a virtual three-dimensional shape provided inside a computer, defined in a shape corresponding to the work content on the work target object 1. The position and orientation of this environment-side virtual object model 15 are calculated and set inside the computer so as to be the actual position and orientation based on information acquired from an information acquisition device (not shown) (for example, a camera or a sensor installed on the robot arm 11 or around the robot arm 11).

[0018] The robot-side virtual object model 16 is a calculation model of a virtual three-dimensional shape provided inside a computer, the shape of which is formed for the hand 11A of the robot arm 11 so as to correspond to the work content on the work target 1. Then, like the environment-side virtual object model 15, the position and orientation of this robot-side virtual object model 16 are calculated and set inside the computer so as to become the actual position and orientation based on information acquired from information acquisition means (not shown, for example, a camera or sensor installed on the robot arm 11 or around the robot arm 11).

[0019] Here, at least one of the above-mentioned environment-side virtual object model 15 and robot-side virtual object model 16 is configured to be switchable between enabled and disabled depending on the progress of the work during remote operation of the robot arm 11. For example, when the hand 11A of the robot arm 11 moves to an appropriate position with respect to the environment-side virtual object model 15, the robot-side virtual object model 16 is switched from disabled to enabled. Also, at least one of the environment-side virtual object model 15 and robot-side virtual object model 16 is configured to be switchable to the environment-side virtual object model 15 or robot-side virtual object model 16 having a different shape depending on the progress of the work during remote operation of the robot arm 11. For example, when the shape of the work target 1 is changed by processing, at least one of the environment-side virtual object model 15 and robot-side virtual object model 16 is switched to a model having a shape corresponding to the change in the shape of the work target 1.

[0020] The contact detection unit 17 detects contact between the hand 11A of the robot arm 11 and the environment-side virtual object model 15 as the robot arm 11 moves, and between the environment-side virtual object model 15 and the robot-side virtual object model 16 as the robot arm 11 moves, based on hand current position information e from, for example, a position sensor 20 installed on the robot arm 11.

[0021] The virtual reaction force calculation unit 18 outputs a virtual reaction force (virtual reaction force information k) generated between the hand end 11A of the robot arm 11 and the environment-side virtual object model 15 based on contact amount information (contact amount information h) from the contact detection unit 17 due to contact between the hand end 11A of the robot arm 11 and the environment-side virtual object model 15 as the robot arm 11 moves. Furthermore, the virtual reaction force calculation unit 18 outputs a virtual reaction force (virtual reaction force information k) generated between the environment-side virtual object model 15 and the robot-side virtual object model 16 based on contact amount information (contact amount information h) from the contact detection unit 17 due to contact between the environment-side virtual object model 15 and the robot-side virtual object model 16 as the robot arm 11 moves.

[0022] The second function of the calculation unit 13 described above is a function of outputting an operation device control command d to the operation device 12 for reproducing the virtual reaction force (virtual reaction force information k) calculated by the virtual reaction force calculation unit 18 and the position and orientation information of the robot arm 11 as a force and position perceptible to the operator who operates the operation device 12. Specifically, the second function of the calculation unit 13 is a function of outputting an operation device control command d to the operation device 12 based on information taking into account a total reaction force obtained by adding together the actual reaction force (actual reaction force information f) calculated by the actual reaction force calculation unit 14 and the virtual reaction force (virtual reaction force information k) calculated by the virtual reaction force calculation unit 18, and further the position and orientation information (hand tip current position information e) of the hand tip 11A of the robot arm 11 calculated based on a position sensor 20 such as an encoder installed on the robot arm 11.

[0023] The second operation device function of the operation device 12 described above is a function of presenting a perceptible force to the operator operating the operation device 12 based on the operation device control command d from the control command calculation unit 13. The operator operates the operation device 12 based on the perception of this force, and thus it becomes possible to remotely control the robot arm 11 while easily maintaining the position and posture of the hand 11A of the robot arm 11 in a desired state.

[0024] 3 and 5, a case will be described in which the hand 11A of a robot arm 11 is inserted between multiple spokes 4 of a circular valve handle 3 serving as a work object 1, and the robot arm 11 is operated in an arc shape to press the hand 11A against the spokes 4 in the circumferential direction of the valve handle 3, thereby rotating the valve handle 3 in the direction of arrow R in Fig. 5. In this case, a handle front surface guide 15A and a handle back surface guide 15B are provided as the environment-side virtual object model 15, and a hand guide 16A is provided as the robot-side virtual object model 16.

[0025] The handle front surface guide 15A is installed on the front surface side of the valve handle 3, and is formed with a ring-shaped open portion 21 into which the hand 11A of the robot arm 11 can be inserted. The handle back surface guide 15B is installed on the back surface side of the valve handle 3. Furthermore, the hand guide 16A is installed on the hand 11A of the robot arm 11, and its outer diameter is set to be larger than the open width of the open portion 21 of the handle front surface guide 15A. The positions and orientations of the handle front surface guide 15A, the handle back surface guide 15B, and the hand guide 16A are determined based on information acquired from a camera or the like.

[0026] First, the operator operates the operating device 12 to move the hand 11A of the robot arm 11 to the vicinity of the valve handle 3, as shown by the arrow F in Fig. 2. Next, as shown in Fig. 4, the operator inserts the hand 11A of the robot arm 11 into the opening 21 of the handle surface guide 15A and moves this hand 11A between the spokes 4 of the valve handle 3. When moving this hand 11A, the hand 11A of the robot arm 11 may be guided between the spokes 4 of the valve handle 3 by the funnel-shaped virtual guide described in Patent Document 1.

[0027] When the hand 11A of the robot arm 11 comes into contact with the handle back surface guide 15B during the movement of the hand 11A of the robot arm 11 described above, this contact is detected by the contact detection unit 17, and a virtual reaction force based on the amount of contact is calculated by the virtual reaction force calculation unit 18. Then, the control command calculation unit 13 outputs an operation device control command d based on the virtual reaction force to the operation device 12, and the operation device 12 presents a force that corresponds to the virtual reaction force and is perceptible to the operator. By perceiving this force, the operator judges that the hand 11A of the robot arm 11 should not be moved any further toward the valve handle 3 side (leftward in FIG. 4).

[0028] When the hand 11A of the robot arm 11 contacts the handle back surface guide 15B as described above, the hand guide 16A is installed on the hand 11A of the robot arm 11, and the hand guide 16A becomes effective. After that, when the operator moves the hand 11A of the robot arm 11 in a direction away from the handle back surface guide 15B, the hand guide 16A contacts the handle front surface guide 15A. This contact is detected by the contact detection unit 17, and a virtual reaction force based on the amount of contact is calculated by the virtual reaction force calculation unit 18. Then, the control command calculation unit 13 outputs an operation device control command d based on the virtual reaction force to the operation device 12, and the operation device 12 presents a force corresponding to the virtual reaction force and perceptible to the operator.

[0029] As a result, the operator determines that the hand 11A of the robot arm 11 cannot be moved any further away from the handle back surface guide 15B, and while maintaining the hand 11A in this position, presses the hand 11A against the spokes 4 of the valve handle 3 in the circumferential direction of the valve handle 3, thereby rotating the valve handle 3 in the direction of arrow R.

[0030] As configured as above, the first embodiment provides the following effect (1). (1) When the environment-side virtual object model 15 (handle front surface guide 15A, handle back surface guide 15B) defined in a shape corresponding to the work content for the work object 1 (valve handle 3) comes into contact with the robot-side virtual object model 16 (hand end guide 16A) whose shape is defined for the hand 11A of the robot arm 11 so as to correspond to the work content, a virtual reaction force based on the amount of contact is presented to the operator of the operation device 12 as a perceptible force by the contact detection unit 17, virtual reaction force calculation unit 18, control command calculation unit 13, and operation device 12. Furthermore, when the hand 11A of the robot arm 11 comes into contact with the environment-side virtual object model 15 (handle front surface guide 15A, handle back surface guide 15B), a virtual reaction force based on the amount of contact is presented to the operator of the operation device 12 as a perceptible force by the contact detection unit 17, virtual reaction force calculation unit 18, control command calculation unit 13, and operation device 12.

[0031] Therefore, by relying on the perception of these forces, the operator operates the operating device 12, and while easily maintaining the position and posture of the hand 11A of the robot arm 11 in that state, remote work can be accurately performed on the work target 1 (valve handle 3) using the robot arm 11. As a result, since the operator does not need to check and adjust the position and posture of the hand 11A of the robot arm 11, the workability of remote work using the robot arm 11 can be improved.

[0032] [B] Second embodiment (FIGS. 1, 6 to 8) 6 is an operational diagram showing the positional relationship between a machining target guide 15M as an environment-side virtual object model 15 in a robot arm remote operation system according to the second embodiment, and a machining tool guide 16M as a robot-side virtual object model 16. In the second embodiment, the same parts as in the first embodiment are denoted by the same reference numerals as in the first embodiment, and the description thereof will be simplified or omitted.

[0033] The robot arm remote operation system 30 of the second embodiment presses a processing tool (rotary tool) 5 held by the hand 11A of the robot arm 11 against a work object 1 in the direction of arrow P, and moves the processing tool 5 in a direction S perpendicular to the pressing direction (perpendicular to the paper surface of Figs. 6 to 8) to perform processing such as cutting on the work object 1. In this case, a processing object guide 15M as an environment-side virtual object model 15 is installed with respect to the work object 1, and a processing tool guide 16M as a robot-side virtual object model 16 is provided with respect to the processing tool 5 held by the hand 11A of the robot arm 11.

[0034] The machining object guide 15M may be independent of the shape of the workpiece 1, and is formed according to the movement path of the machining tool 5 in accordance with the shape to be machined. The machining tool guide 16M may be independent of the shape of the machining tool 5, and is formed in a shape that can ensure the position and posture of the hand 11A of the robot arm 11 required for the machining operation of the machining tool 5, and can follow the path to be machined along the machining object guide 15M. This machining tool guide 16M has a shape in which, for example, a front wall 32 and a rear wall 33 are provided on a top surface portion 31, and a recess 34 is formed. The positions and postures of the machining object guide 15M and the machining tool guide 16M are set based on information acquired from a camera or the like.

[0035] First, the operator moves the hand 11A of the robot arm 11 downward in the height direction H of FIG. 6 to bring the top surface 31 of the machining tool guide 16M into contact with the machining target guide 15M. Then, this contact is detected by the contact detection unit 17, and a virtual reaction force based on the amount of contact is calculated by the virtual reaction force calculation unit 18. Then, the control command calculation unit 13 outputs an operation device control command d based on the virtual reaction force to the operation device 12, and the operation device 12 presents a force that corresponds to the virtual reaction force and is perceptible to the operator. By perceiving this force, the operator determines that the hand 11A of the robot arm 11 has reached an appropriate height for machining.

[0036] Next, the operator moves the hand 11A of the robot arm 11 in the direction of the arrow P to press the machining tool 5 against the workpiece 1, and performs machining on the workpiece 1 with the machining tool 5. During this machining, as shown in FIG. 7, when the rear wall 33 of the machining tool guide 16M comes into contact with the workpiece guide 15M, this contact is detected by the contact detection unit 17, and a virtual reaction force based on the amount of contact is calculated by the virtual reaction force calculation unit 18. Then, the control command calculation unit 13 outputs an operation device control command d based on a combined reaction force obtained by combining the virtual reaction force and the actual reaction force from the actual reaction force calculation unit 14 to the operation device 12, and the operation device 12 presents a force that corresponds to the combined reaction force and is perceptible to the operator. By perceiving this force, the operator judges that the machining tool 5 attached to the hand 11A of the robot arm 11 has reached a required machining depth for the workpiece 1.

[0037] Thereafter, the operator moves the machining tool 5 held by the hand 11A of the robot arm 11 in a direction S perpendicular to the pressing direction of the arrow P. At this time, by moving the machining tool 5 in the perpendicular direction S while perceiving the force presented by the operation device 12 when it is determined that the required machining depth has been reached, it becomes possible to machine the workpiece 1 into a desired shape by the machining tool 5 without causing any positional deviation of the machining tool 5.

[0038] Next, in order to move the machining tool 5 to the next machining position, the operator moves the hand 11A of the robot arm 11 away from the workpiece 1 with the top surface 31 of the machining tool guide 16M in contact with the machining object guide 15M, as shown by the arrow Q in Fig. 8, to bring the front wall 32 of the machining tool guide 16M into contact with the machining object guide 15M. Then, this contact is detected by the contact detection unit 17, and a virtual reaction force based on the amount of contact is calculated by the virtual reaction force calculation unit 18. Then, the control command calculation unit 13 outputs an operation device control command d based on the virtual reaction force to the operation device 12, and the operation device 12 presents a force corresponding to the virtual reaction force and perceptible to the operator.

[0039] By perceiving this force, the operator determines that the hand 11A of the robot arm 11 has appropriately moved away from the work object 1 while maintaining the height direction H. In this state, the operator can easily move the processing tool 5 to the next processing position by moving the hand 11A of the robot arm 11 in the direction S perpendicular to the pressing direction of the arrow P.

[0040] As configured as above, the second embodiment also achieves the same effect as the effect (1) of the first embodiment, and also achieves the following effect (2). (2) For example, when the shape of the workpiece 1 is changed by machining using the machining tool 5, the shape of at least one of the machining object guide 15M and the machining tool guide 16M can be changed in response to the change in shape of the workpiece 1. In this case, the position and posture of the hand 11A of the robot arm 11 can be maintained in a more appropriate state, thereby improving the efficiency of remote work performed by the robot arm 11.

[0041] Although several embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, changes, and combinations can be made without departing from the spirit of the invention. Furthermore, these substitutions, changes, and combinations are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0042] 1...work object, 3...valve bundle, 5...machining tool, 10...robot arm remote operation system, 11...robot arm, 11A...hand, 12...operation device, 13...control command calculation unit, 14...actual reaction force calculation unit, 15...environment side virtual object model, 15A...handle surface guide, 15B...handle back guide, 15M...machining object guide, 16...robot side virtual object model, 16A...hand guide, 16M...machining tool guide, 17...contact detection unit, 18...virtual reaction force calculation unit, 30...robot arm remote operation system, a...position operation information, b...force operation information, c...robot arm control command, d...operation device control command, e...hand current position information, f...actual reaction force information

Claims

1. A robot arm remote control system for remotely controlling a robot arm performing remote work by inducing a position of a hand of the robot arm and a force acting on the hand to a desired value, comprising: an operation device that inputs operation information including a desired position of the hand of the robot arm and a desired force to be applied to the hand, and outputs the position of the hand of the robot arm and the force to be generated at the hand; a control command calculation unit that outputs, to the robot arm, a control command regarding a position of the hand and a force to be applied to the hand, based on the operation information from the operation device and reality information regarding an actual position of the hand of the robot arm and an applied force; an environment-side virtual object model that is virtually provided and that is defined in a shape corresponding to the work content for the work object and whose position and orientation are set to be actual position and orientation based on information acquired from an information acquisition device including a sensor or a camera; a robot-side virtual object model that is virtually provided, in which a shape is defined for the robot arm so as to correspond to the work content, and a position and orientation are set to be actual positions and orientations based on information acquired from an information acquisition device including a sensor or a camera; a contact detection unit that detects contact between the environment-side virtual object model and the robot-side virtual object model accompanying movement of the robot arm; a virtual reaction force calculation unit that calculates a virtual reaction force generated between the environment-side virtual object model and the robot-side virtual object model based on a contact amount between these virtual object models, the control command calculation unit outputs an operation device control command for reproducing the virtual reaction force calculated by the virtual reaction force calculation unit as a force perceptible to an operator operating the operation device, and the operation device is configured to present the perceptible force based on the operation device control command to the operator.

2. an actual reaction force calculation unit that calculates an actual reaction force between the work object and a hand of the robot arm based on a force actually applied to the hand, 2. The robot arm remote operation system according to claim 1, wherein the control command calculation unit is configured to output an operation device control command based on a combined reaction force obtained by combining the actual reaction force calculated by the actual reaction force calculation unit and the virtual reaction force calculated by the virtual reaction force calculation unit.

3. The robot arm remote control system according to claim 1, characterized in that at least one of the environment side virtual object model and the robot side virtual object model is configured to be switchable between enabled and disabled depending on the progress of work during remote control of the robot arm.

4. The robot arm remote control system according to claim 1, characterized in that at least one of the environment-side virtual object model and the robot-side virtual object model is configured to be switchable to a virtual object model having a different shape depending on the progress of a task during remote control of the robot arm.

5. A method for remotely controlling a robot arm, which remotely controls a position of a hand of a robot arm performing a remote operation and a force acting on the hand to a desired value, comprising: preparing a virtually provided environment-side virtual object model, the shape of which is defined in accordance with the work content for the work object, and the position and orientation of which are set to be actual positions and orientations based on information acquired from an information acquisition device including a sensor or a camera; and a virtually provided robot-side virtual object model, the shape of which is defined for the robot arm so as to correspond to the work content, and the position and orientation of which are set to be actual positions and orientations based on information acquired from an information acquisition device including a sensor or a camera; a contact detection unit detecting contact between the environment-side virtual object model and the robot-side virtual object model caused by movement of the robot arm; a virtual reaction force calculation unit calculating a virtual reaction force generated between the environment-side virtual object model and the robot-side virtual object model based on a contact amount between these virtual object models; a control command calculation unit outputs an operation device control command for reproducing the virtual reaction force calculated by the virtual reaction force calculation unit as a force perceptible to an operator operating an operation device, thereby causing the operation device to present the perceptible force based on the operation device control command to the operator.

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