半自主远程维修机器人的研制

Akihiro Hibino, Tatsuya Kawai, Mikio Nako, Yingxin He, Kazuki Aoyama, Yuta Iwata, Taisuke Isogai, S. Takeuchi, K. Tatsuno
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引用次数: 0

摘要

我们正在开发一种半自动远程维护机器人的原型,例如用于核电站。机器人图像如图1所示。该机器人由手臂、移动基座和视觉系统组成。机器人是按照任务级指令操作的。例如,当我们指令“插入螺栓”时,机器人搜索描述移动序列的指令文件,然后通过移动移动基座和手臂来执行任务。
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Development of a semi-autonomous remote maintenance robot
We are developing a proto-type of semi-autonomous remote maintenance robot which is for example used in a nuclear power plant. The image of the robot is shown in Fig.1. The robot is constructed of arms, mobile base and vision system. The robot is operated with task level instructions. Foe example, when we direct “Insert the bolt”, the robot search the instruction file in which the move sequences are described, and then the task is performed by moving the mobile base and arms.
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