The hot line work robot system "Phase II" and its human-robot interface "MOS"

摘要

This paper describes the design concepts and development outline of the semi-automatic hot-line work robot system, "Phase II" and its human-robot interface, "MOS" developed by the authors' company. In order to realize a high level of automation on hot-line work, reduce the operators' work load, and increase work efficiency, the authors have adapted a semi-automatic operation method with dual-armed manipulators and multi-operation system or "MOS" in "Phase II". The former is realized through two kinds of controlled motions: sensor model-based controlled motion and master-slave controlled motion. The latter is the system which integrates real images, characters, diagrams, and voice. This paper includes experimental results of work which certify the effectiveness of the robot system, which uses sensor model-based control and master-slave control jointly and also "MOS". "Phase II" can be roughly classified into these components; vehicles, booms, robot portions (using the 7-axis dual-armed manipulators), cameras, automatic tool changers (ATC), automatic material changers (AMC), and "MOS". The system organization such as this, the authors are convinced, is one of the basic systems for overhead work systems with mobility.