Publications / 2006 Proceedings of the 23rd ISARC, Tokyo, Japan
The great majority of robot construction machine currently in service are remotely controlled with the help of video information. Most of these robots are connected to remote-control cameras. In certain circumstances, video images of these robot systems cannot provide clear relative positional relationship between the topography where the job is being done and the device at the top end of the machine, resulting in a degradation in operating efficiency. On the other hand, dangerous situations that potentially involve secondary accidents will be encountered if the survey team approaches the site where soil collapse or building breakdown has occurred for the purposes of survey and of laying the work markers. Against such a background, there is a demand for construction robots that could make the best use of information about the design, the present topographic features, and so on.
It is intended herewith to establish a robot construction system that controls a top-end device in accordance with an expected trajectory of the backhoe tip, which is generated based on present topographic features and design form (target of work) in Japanese coordinate system.
This paper describes a 3D simulation software that is installed to generate command values by which the robot machine, typically a hydraulic shovel, actuates the top-end device. This actuation is effected depending on the machines boom and arm angles that are calculated through inverse kinematics from the coordinates of the bucket tip.