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Accession number;02A0713948
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| Title;Remote Maintenance Robot System based on Distributed Object Technology. Combinatorial Control Experiments of Master-slave Operation and Automatic Operation. |
| Author;
OAKI JUNJI
(Toshiba Corp.)
OZAKI FUMIO
(Toshiba Corp.)
MATSUHIRA NOBUTO
(Toshiba Corp.)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2002;NO.Pt.5;PAGE.2P2.C10(1)-2P2.C10(2)(2002)
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| Figure&Table&Reference;FIG.4, REF.3 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;We are developing a remote maintenance robot system with a mobile manipulator and a master-hand. This paper proposes combinatorial control of master-slave and automatic operation. Master-hand control is used for master-slave operation and camera image processing is for automatic operation with force control. This combination of operations is helpful to reduce operator's burden in remote operation. The validity of the system has been verified through model maintenance tasks, in which the robot removes and fixes a flange cover of a pipe mockup, and opens a door. (author abst.) |
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