An Experimental Remote Handling Device

摘要

An experimental robotic remote handling device is described which has been constructed in order to investigate various engineering problems in advanced remote handling such as man-machine interface, system control, and communication. The device consists of a mobile station 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 a master-arm of the manipulator, radio transmitters, receivers, a TV monitor, a main control computer and its peripheral devices, etc. The manipulator can be operated in either master-slave, playback or programmed control mode with the assistance of the control computer. The communication between the mobile and the control stations is made using optical fibers or radio link.