In-cell maintenance by manipulator arm with 3D workspace information recreated by laser rangefinder

Kitamura, Akihiro   ; Nakai, Koji; Namekawa, Takashi; Watahiki, Masatoshi 

We developed a remote control system to display recreated three dimensional information of workspace from measured data obtained by laser rangefinder and to operate manipulator arm remotely. In order to evaluate the effectiveness and usefulness of developed system, we implemented remote handling experiments using mock up equipment and compared the performances of remote operation conducted by the present control system with that by the usual camera based control system. Impressions of operator on the performance of each system are collected and NASA TLX tests are conducted. It was observed that the present system reduced workload stresses and reinforced visual information during remote operation.