遠隔操縦ロボットに係るシミュレーション機能及び周辺技術開発

Development of a simulator of remotely operated robots and implementation of user support tools

鈴木 健太 ; 磯和 充; 伊藤 倫太郎; 堀内 一憲*; 川端 邦明   

Suzuki, Kenta; Isowa, Mitsuru; Ito, Rintaro; Horiuchi, Kazunori*; Kawabata, Kuniaki

This paper describes the development of a simulator of remotely controlled robots and the development of a utility tool for simulation of crawler type robots. The simulator incorporates the structural details of a reactor unit at the Fukushima Daiichi Nuclear Power Plant. The simulator was developed using an integrated robotics environment GUI called Choreonoid. Currently we are developing utility software to automatically generate models of crawler type robots using operator provided design parameters. The main program can then control the generated robots in the simulated environment. In this paper, we report on the utility program and the simulator prototype.