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

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル1993 Int Conf Intell Rob Syst
編集者 Anon
出版者Publ by IEEE
ページ1225-1230
ページ数6
ISBN(印刷物)0780308239
出版物ステータスPublished - 1993 12 1
外部発表Yes
イベント1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
継続期間: 1993 7 261993 7 30

出版物シリーズ

名前1993 Int Conf Intell Rob Syst

Other

Other1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
Yokohama, Jap
期間93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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  • これを引用

    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. : Anon (版), 1993 Int Conf Intell Rob Syst (pp. 1225-1230). (1993 Int Conf Intell Rob Syst). Publ by IEEE.