共通ソフトウェアを利用した移動作業ロボットの遠隔操作システムの開発

抄録

In recently years, it has been demanded to control robot remotely in the place which is dangerous for people. However, it takes cost and time to construct a remote control system. By using RSNP which is communication standard and RT-middleware which can modularize robot elements, it's possible to reduce the development period and cost and to construct a remote control system easily. In addition, mobile robot and robot arm are necessary to perform actual task at remote locations. In this study, we constructed a remote control system of movable working robot by combing a mobile robot and a robot arm. And we verified the effectiveness of the robot system combing robot elements. In the verification experiment, we performed pick and place task that the robot gripped the object and brought it to the target position. As a result, the work was able to be completed.