Mobile Robot with Preliminary-Announcement Function of Forthcoming Motion using Light-ray
Mobile Robot with Preliminary-Announcement Function of Forthcoming Motion using Light-ray
复制标题
具有利用光线预告即将运动功能的移动机器人
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
K. Iwase
中科院分区：
文献类型：
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作者：
T. Matsumaru;T. Kusada;K. Iwase
本文讨论了移动的机器人PMR-1的设计和基本特性，它具有通过在运行表面上用光线画出预定的路线，向周围的人通告和显示即将进行的操作（运动方向和速度）的功能。激光指示器被用作光源，并且来自激光指示器的光在镜子中被反射。光线投射在运行表面上，并且通过围绕平移和倾斜轴旋转反射器来绘制预定的路线。所研制的移动的机器人的预告和显示单元可以预先指示到3秒后的操作，从而使机器人从现在到3秒后按预定的路线移动。已经进行了实验之间的协调公告和运动，我们确认的对应关系的公告过程与机器人轨迹的情况下，预先给定的移动路径，并在机器人操作与手动输入从操纵杆在实时的情况下。从而验证了公告与真实的运动之间的协调算法
This paper discusses the design and the basic characteristic of the mobile robot PMR-1 with the preliminary-announcement and display function of the forthcoming operation (the direction of motion and the speed of motion) to the people around the robot by drawing a scheduled course on a running surface using light-ray. The laser pointer is used as a light source and the light from the laser pointer is reflected in a mirror. The light-ray is projected on a running surface and a scheduled course is drawn by rotating the reflector around the pan and the tilt axes. The preliminary-announcement and display unit of the developed mobile robot can indicate the operation until 3-second-later preliminarily, so the robot moves drawing the scheduled course from the present to 3-second-later. The experiment on coordination between the preliminary-announcement and the movement has been carried out, and we confirmed the correspondence of the announced course with the robot trajectory both in the case that the movement path is given beforehand and in the case that the robot is operated with manual input from a joystick in real-time. So we have validated the coordination algorithm between the preliminary-announcement and the real movement