ライノ・ロボットによるマニピュレータの軌道モニタリングについて

抄録

This paper discusses the potential use of an on-line computer aid for the trajectory monitoring of a robot manipulator. When the workspace is in full of unendurable state for worker, such as, for example, a nuclear power plant, a manipulator needs remote-control and an operator can watch its movement only from a fixed viewpoint like a small window. Accordingly, it is needed to monitor the movement of a manipulator from an arbitrary position. For Rhino robot which is training system for robot technicians, a method which monitors the figure and the trajectory of a manipulator, is proposed. Through an experiment, the effectiveness of the Rhino-aid monitoring system is evaluated. Furthermore, it is ascertained that this method isn't effective only for the operation of a manipulator, but also trajectory planning, since this system can check errors of a real trajectory from a desired one at anytime.