An experimental remote handling system

摘要

An experimental robotic remote handling system is described which has been constructed in order to investigate various engineering problems in advanced remote handling such as the man-machine interface, system control and communication. The device consists of a mobile and a control station. The mobile station comprises an electrical manipulator having seven degrees of freedom, a TV camera, a control sub-computer, a servo-control unit, radio transmitters and receivers, batteries, etc., which are mounted on a crawler-type vehicle. The control station is equipped with the master arm of the manipulator, radio transmitters and receivers, a TV monitor, a main control computer and its peripheral devices, etc. The manipulator can be operated in either a master-slave, a playback or a programmed control mode with the assistance of control computers. Communication between the mobile and the control stations is made using optical fibres or a radio link.