M1
2017/1/11 A204
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
➢ DL
➢ ROS/MORSE
➢ FA
https://www.openrobots.org/morse/doc/stable/user/robots/pr2.html
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FUJITSU, Vol.67, No.3, pp.39-44 2016
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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RTM ROS
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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※ : 1 1
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
✴ ✴
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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1. 2. 3.
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
➢ SLIM*
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* SLIM : Standard Language for Industrial Manipulators (JIS B 8439:1992)
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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➢ SVM
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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, 19 , pp.624-630 2014
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
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➢ TMS
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LRF IMU RFID RGBD
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
ROS-TMS
➢ ROS TMS
➢ LRF RFID
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➢ Choreonoid + graspPlugin
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
➢ SmartPal V Kinect RFID
➢ LRF RFID RFID
✴ ✴
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
[Fig.6] LRF FSS
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[Fig.7] RFID
➢ RFID
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
TMS ROS-TMS ROS-TMS
➢ ROS
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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
➢ DL
➢ ROS/MORSE
➢ FA
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
ROS-TMS
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
ROS-TMS
➢ ROS TMS
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ROS-TMS
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
MORSE Simulator
✴ 4000
✴ 60000
✴ telnet
MORSE Simulator
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory