自律形配管メインテナンスロボットに関する基礎的研究 : 第5報, 配管診断ロボットのためのパスプランニング用エキスパートシステム

抄録

The path planning is very important for the pipeline maintenance robot because there are many obstacles on pipeline such as flanges and T-joints and others, and because pipelines are constructed as a connected network in a very complicated way. Furthermor, the maintenance robot Mark III previously reported has the ability to transit from one pipe to another the path planner should consider. The expert system especially aimed for path planning, named PPES (Path Planning Expert System), is described in this paper. A human-operator has only to give some tasks to this system. This system automatically replies with the optimal path, which is based on the calculation of the task levels and list of some control commands. Task level is a criterion to determine one optimal path. It consists of the difference of potential energies, the static joint torques, velocity of the robot, step numbers of the grippers' or body's movement, which the robot requires. This system also has graphic illustrations, so that the operator can easily check and understand the plant map and the result of the path planning.