成果報告書詳細
管理番号20160000000058
タイトル*平成26年度中間年報 環境・医療分野の国際研究開発・実証プロジェクト/ロボット分野の国際研究開発・実証事業/災害対応ロボット・オープンプラットフォームの研究開発
公開日2016/3/17
報告書年度2014 - 2014
委託先名国立大学法人神戸大学
プロジェクト番号P12001
部署名ロボット・機械システム部
和文要約
英文要約The International R&D and Demonstration Project in Environment and
Medical Device Sector / The International R&D and Demonstration Project
on Robotic Field / Research and Development of Disaster-Response Robot
Open Platform (FY2014-FY2015) / FY2014 Annual Report

Commissioned organization: Kobe University

This R&D project is performed jointly by four organizations, the University of Tokyo, Chiba Institute of Technology, Osaka University, and Kobe University. In this report, the outcomes of the development items that Kobe University is responsible are shown.

1. Development of remote operation cockpit
(i) Hardware repair of the existing dual-arm master control device
The motor at the malfunctioned joint where encoder signal is unavailable has been replaced by a new one. The links of the gimbal part of the master arm have been reinforced.
(ii) Design of the control circuitry and power circuitry for the dual-arm master control device
Control circuitry and power circuitry have been designed so that they can be used at the power supply condition at the DRC final.
(iii) Development of the basic structure of the software that receives and displays the robot sensory data
In accordance with the DRC rule, the basic structure of the software that receives various sensory data, such as camera image, sent from the robot and displays these data on the computer screen has been developed.

2. Development of supervisory control system for flexibly mixing autonomous intelligence and remote control
(i) Basic policy of supervisory control system
Specification of the communication line between the robot and the operator control station is very important to design an overall system design. The communication rule of the DRC had been revised significantly in November 2014. Therefore major change was necessary in the basic design policy of the remote control system.
Since communication interruption does not occur in the high-capacity channel (Link 2) during the outdoor tasks of the DRC, scenario-based sequence control or remote control is adopted. During the indoor works, on the other hand, communication interruption is imposed on Link 2, and semi-autonomous control to move the hand or foot to a given target point that was selected from the point cloud data will be chosen. The master-slave control will be considered for small-capacity communication channel without disrupt (Link 3).
(ii) Clarification of required functions for semi-autonomous control mode and remote control mode
In semi-autonomous mode, it is necessary to implement functions that can specify a target point from the point cloud data, etc. and pre-check the robot motion by simulations in the modeled environment before commanding the target point to the real robot. In remote control mode, it is necessary to implement an ability that sequentially transmits the hand position and orientation generated by the master arm.

3. Development of a control system based on network self-diagnosis
(i) Basic specification of data communication between the robot and operator
Since the duration of the communication interruption were to be changed at random in the original communication rule, it was planned to develop a control system that monitors the communication status and dynamically adopt the parameters of the control system, such as update cycle of the data, according to the communication status.
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