1A1-R12 移動ロボット搭載用多関節アームZAHNの開発 : 第1報:カメラアームに関する検討(極限作業ロボット)

抄録

Mobile manipulators are required in Fukushima Nuclear plant and so on. We suggest 3 methods that are essential in these situations: the one is to have high power and large range, another is to have easy maintenance, and the other is to have high teleoperation system. We especially suggest 3 methods of the design of "CameraArm", a teleoperation system: the one is to have wide range of view in order to acknowledge the length between gripper and the object that operator wants to catch, another is being small size and light weight, the other is to acknowledge the surrounding of the robot.