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遠隔操作移動ロボットのための試験場の開発

Development of modular style test field for remotely operated mobile robot

川端 邦明   ; 毛利 文昭; 谷藤 祐太 ; 白崎 令人; 羽成 敏秀 

Kawabata, Kuniaki; Mori, Fumiaki; Tanifuji, Yuta; Shirasaki, Norihito; Hanari, Toshihide

本発表では、遠隔操作移動ロボットの開発支援のためのモジュール型試験場の開発状況について報告を行う。福島第一原子力発電所の廃炉のための遠隔技術開発と操作者習熟度向上のために活用するために、現在いくつかのプロトタイプを開発している。ケーブル巻きつき効果のための柱状障害物モジュールや金属製階段モジュールなどを構築した。

This paper describes about development of modular style test field for Remotely Operated Mobile Robots. Our motivation is to provide test methods for development of the robots and operator proficiency to contribute decommissioning works of Fukushima Daiichi Nuclear Power Station (FDNPS). We currently design prototypes of modular style test fields based on analysis of emergency response tasks at FDNPS and construct them. Developed prototypes including a pile-shape obstacle that is three mutually perpendicular elements, steps with iron surface, grating floor and so on were reported in this paper. Developed modules are capable of reconfiguring kinds of the test fields by arranging their layout utilizing modular mobile carts.

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