Development of a model-based remote maintenance robot system (II) - environment measuring methods

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

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

Abstract

The authors are developing a model-based remote maintenance robot system which autonomously carried out maintenance tasks in nuclear facilities: for example, nuclear power plants and nuclear fusion reactors. In this paper, two measurements methods for the robot system are described: one is a laser range finder which is popularly used, and the other is a groping method to target tasks which are to insert a bolt and set a nut. These measurements are indispensable for autonomous robots. In the groping method, the arm with a bolt gropes on the flange surface, and a rapid change in the force signal is detected when the bolt tip comes across a hole. Position measurements are made by the joint angles in groping. Therefore, it has the same merit as direct teaching in industrial robots. The robot system carried out inserting a bolt and setting a nut on a flange by using these methods.

Original languageEnglish
Title of host publication1993 Int Conf Intell Rob Syst
Editors Anon
PublisherPubl by IEEE
Pages1231-1236
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
Externally publishedYes
Event1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 Int Conf Intell Rob Syst

Other

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

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Sato, H., Asari, Y., Yoshimi, T., Tatsuno, K., & Asano, K. (1993). Development of a model-based remote maintenance robot system (II) - environment measuring methods. In Anon (Ed.), 1993 Int Conf Intell Rob Syst (pp. 1231-1236). (1993 Int Conf Intell Rob Syst). Publ by IEEE.