原子炉内作業用ロボットマニピュレータの自動動作設計手法
英字タイトル:
Algorithm for Automatic Generating Motion Trajectories of Robot Manipulator in Nuclear Power Plant
著者:
菅沼 直孝 Naotaka SUGANUMA 松崎 謙司 Kenji MATSUZAKI 島村 光明 Mitsuaki SHIMAMURA 向井 成彦 Naruhiko MUKAI 笠井 茂 Shigeru KASAI
発刊日:
公開日:
Obstacle AvoidanceRepulsive Vector FieldRobot Manipulator
Algorithm for Automatic Generating Motion Trajectories of Robot Manipulator in Nuclear Power Plant
著者:
菅沼 直孝 Naotaka SUGANUMA 松崎 謙司 Kenji MATSUZAKI 島村 光明 Mitsuaki SHIMAMURA 向井 成彦 Naruhiko MUKAI 笠井 茂 Shigeru KASAI
発刊日:
公開日:
カテゴリ: 第6回
キーワードタグ:Obstacle AvoidanceRepulsive Vector FieldRobot Manipulator
概要
This study proposes an algorithm for automatic generating motion trajectories of robot manipulator. This algorithm consists of two procedures. First, motion trajectories of the tool head are generated by using the concept of repulsive vector fields and motion trajectories model which consists of a number of spr ings and mass. Then, a posture of robot manipulator is also automatically generated using the same concept. We are planning to apply this system as a remote handling device for nuclear power plants. This system can realize shorter preparation and operation periods for maintenance work in nuclear reactor vessels.
