Development of a robot simulation system for remotely operated robots for operator proficiency training and robot performance verification

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

Proceedings of 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2017) (USB Flash Drive), p.561 - 564, 2017/06

https://doi.org/10.1109/URAI.2017.7992669

This paper describes the current status of the development of a simulation system for remotely operated robots. The system will be used for operator proficiency training and robot performance verification. Our purpose for developing this system is to contribute to decommissioning of the Fukushima Daiichi Nuclear Power Station (FDNPS). The simulator system was designed using Choreonoid, a simulator development tool. The effects of view disturbances, communication failures, and so on are extended functions that are implemented on the simulator. The effects of water submergence on the physical behavior of underwater robots are also implemented. In this paper, we introduce the prototype of the robotic simulator system with the newly implemented extended functions. Some examples of system output are shown.

Remote technology development for function advancement of research base, 3; Development of robot simulator for nuclear emergency response

Suzuki, Kenta; Isowa, Mitsuru; Kawabata, Kuniaki; Torii, Tatsuo

no journal, , 

no abstracts in English

Development of a robot simulator for supporting to develop nuclear emergency response robots

Suzuki, Kenta; Kawabata, Kuniaki; Isowa, Mitsuru; Torii, Tatsuo

no journal, , 

A Choreonoid based simulator for nuclear emergency response robots

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

no journal, , 

Simulation technology is important for efficient development of remotely operated robots for decommissioning Fukushima Daiichi Nuclear Power Plants (herein referred to as 1F) and training operators to use the robots. We developed an extension to Choreonoid to simulate operation of an underwater, remotely operated vehicle (ROV). The extension was developed using a network traffic controller and includes 3D environmental models of 1F. This paper provides an overview of the extension.