移動マニピュレータによる建設作業システムに関する研究

実システムによる基本ブロック組積作業と精度

抄録

This research is concerned with a construction operation system to make a long fence with piling up blocks by a mobile manipulator. The long fence can not be built by a floor-fixed robot manipulator. Then a kind of moving mechanism is essential to the manipulator. A mobile manipulator having the moving mechanism has an ability to build a huge structure like the long fence, because it can move around in an operation area by itself. One of problems to pile up blocks accurately by the mobile manipulator is errors between a desired position/orientation at destination and an actual one of a mobile robot which is a body of the mobile manipulator. The errors disturb accurate construction operations. A purpose of this research is to build the mobile manipulator system to be able to construct the huge structure. In this paper, a mobile manipulator system having a recognition system to detect the position/orientation errors of the mobile manipulator is proposed. First, a hand-eye camera system is constructed to recognize the position/orientation errors caused by traveling. Second, a fixation control method of the hand-eye camera is utilized to recognize the errors precisely. Third, the real construction operation system with the above recognition system is constructed. Then, the accuracy of piled blocks is discussed by experiments using our real mobile manipulator system, as one of operations to construct the huge structure. Finally, influences caused by changes of yaw and pitch angle of the body of the mobile manipulator are evaluated with real experiments.