Development of a robot simulation system for remotely operated robots for operator proficiency training and robot performance verification

摘要

This paper describes the current status of the development of a simulation system for remotely operated robots. The system will be used for operator proficiency training and robot performance verification. Our purpose for developing this system is to contribute to decommissioning of the Fukushima Daiichi Nuclear Power Station (FDNPS). The simulator system was designed using Choreonoid, a simulator development tool. The effects of view disturbances, communication failures, and so on are extended functions that are implemented on the simulator. The effects of water submergence on the physical behavior of underwater robots are also implemented. In this paper, we introduce the prototype of the robotic simulator system with the newly implemented extended functions. Some examples of system output are shown.