天井面墨出しロボットの開発 : 第2報, 天井面直線墨出し

概要

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The authors have proposed a marking robot which draws specific marks at designated positions on a ceiling board at construction siteS. After that, a new function was added to the robot. It is necessary to be work which draws a reference straight-line to a ceiling board in building construction sites. This report proposes about the method which makes this task do for a mobile robot. The system is composed of the standard laser, the prototype of Straight-line Drawing Unit (SLD Unit) which has a function of tracking the laser beam and a function of drawing, and the mobile robot. The robot loads the SLD Unit and moves toward the standard laser. In order to catch the standard laser beam, the robot changes its trajectory. The robot controls its two drive wheels in a way that allows each wheel to move independently, so it can trace a straight line. Based on the experiments, the robot could the task of drawing the amplitude of the straight line with an accuracy of plus or minus 1 mm when drawing a 10 m line. This paper mainly describes the SLD Unit and the wheel control, and presents the experimental results of marking by the robot.
社団法人日本機械学会の論文
1999-06-25