2P1-B20 操作型作業機械の知能化に関する研究 : 第2報:環境・操作者の多様性に非依存な基底作業状態の提案(建設・解体ロボット・メカトロニクス)

概要

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In complicated work machines represented by Double-Front Construction Machinery, an intelligent system to which can provide operational and cognitive supports for an operator is essential. In construction work, a) work objects change consistently, b) environment is complicated, and c) operation methods are different by operators. We understand that there are so many unknown parameters that state identification technique to cover all is very difficult. Therefore, we think that the state unit in total independence of varieties of environmental condition and operator's skill level condition is important. We designed the state unit - PSS (Primitive Static States) with ON / OFF information of lever input and manipulator load divided into "end-effecter" and "except end-effecter". PSS classified working states in 256 (double front) ways every sampling period. As a result of having experimented with between different operators and between different environments with PSS, we confirmed that PSS have properties "in total independence of varieties of environmental condition and operator's skill".
2008-06-06