Abstract
An experimental robotic remote handling device is described which has been constructed in order to investigate various engineering problems in advanced remote handling such as man-machine interface, system control, and communication. The device consists of a mobile station and a control station. The mobile station comprises an electrical manipulator having seven degrees of freedom, a TV camera, a control sub-computer, a servo-control unit, radio transmitters and receivers, batteries, etc. which are mounted on a crawler-type vehicle. The control station is equipped with a master-arm of the manipulator, radio transmitters, receivers, a TV monitor, a main control computer and its peripheral devices, etc. The manipulator can be operated in either master-slave, playback or programmed control mode with the assistance of the control computer. The communication between the mobile and the control stations is made using optical fibers or radio link.
