TY - GEN
T1 - Development of a model-based remote maintenance robot system (II) - environment measuring methods
AU - Sato, Hirokazu
AU - Asari, Yukio
AU - Yoshimi, Takashi
AU - Tatsuno, Kyoichi
AU - Asano, Kuniji
PY - 1993/12/1
Y1 - 1993/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:0027832858
SN - 0780308239
T3 - 1993 Int Conf Intell Rob Syst
SP - 1231
EP - 1236
BT - 1993 Int Conf Intell Rob Syst
A2 - Anon, null
PB - Publ by IEEE
T2 - 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
Y2 - 26 July 1993 through 30 July 1993
ER -