By Topic

Development of a model-based remote maintenance robot system. II. Environment measuring methods

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
H. Sato ; Toshiba Res. & Dev. Center, Kawasaki, Japan ; Y. Asari ; T. Yoshimi ; K. Tatsuno
more authors

For part I, see ibid., pp.1225-1230. The authors are developing a model-based remote maintenance robot system which autonomously carried out maintenance tasks in nuclear facilities, for example nuclear power plants and nuclear fusion reactors. Two measurements methods for the robot system are described: one is a laser range finder, and the other is a groping method for the target tasks of inserting a bolt and setting a nut. In the groping method, an arm with a bolt gropes on the flange surface, and a rapid change in the force signal is detected when the bolt tip comes across a hole. Position measurements are made by the joint angles in groping. Therefore, it has the same merit as direct teaching in industrial robots. The robot system has carried out inserting a bolt and setting a nut on a flange by using these methods

Published in:

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

26-30 Jul 1993