Development of a model-based remote maintenance robot system (I) - outline of the robot system

Hirokazu Sato, Takashi Yoshimi, Yukio Asari, Kyoichi Tatsuno, Kuniji Asano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper describes the outline of a model-based remote maintenance robot system for nuclear facilities such as nuclear power plants and nuclear fusion reactors. This robot system aims at autonomously carrying out maintenance tasks when the operator directs by task level commands: for example, `set flange' and `set valve'. This time, the robot system was applied to fundamental tasks for maintenance work, `insert a bolt' and `set a nut' on a flange. This robot system is composed of an environment measuring device for measuring the position of the object to be handled, a task planner which generates the robot control program from the task level command, and an arm controller which moves the arm under either position or stiffness control according to the generated program. In the experiments, the robot system carried out inserting a bolt and setting a nut on the flange.

Original languageEnglish
Title of host publication1993 Int Conf Intell Rob Syst
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherPubl by IEEE
Pages1225-1230
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993
Externally publishedYes
Event1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
Duration: 1993 Jul 261993 Jul 30

Other

Other1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
CityYokohama, Jap
Period93/7/2693/7/30

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Sato, H., Yoshimi, T., Asari, Y., Tatsuno, K., & Asano, K. (1993). Development of a model-based remote maintenance robot system (I) - outline of the robot system. In Anon (Ed.), 1993 Int Conf Intell Rob Syst (pp. 1225-1230). Piscataway, NJ, United States: Publ by IEEE.