2P1-D38 配電作業ロボット概念設計用CGシミュレーション(1) : 開閉器取り付け作業

概要

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We investigate a practical semi-autonomous power distribution line maintenance robot system which performs job with task level directions. We are developing a CG Simulator for investigation of the conceptual design and task performance of our proposed robot system. This robot system has a vehicle, a boom, an approach arm, and left and right work arms. We teach the motions through a series of the move commands for a task, and these commands are stored in a Task knowledge database. Then, the taught positions of the motions are expressed in task object coordinates. This paper describes the architecture and the performance of the simulator system, and the simulation results for a real maintenance task. In simulations, we show that the task can be performed in different work environments using same commands taught in the task object coordinates for the sequence task, "Install the switch gear".
一般社団法人日本機械学会の論文