Automatic manipulator-head trajectory producing system

An automatic manipulator-head trajectory producing system, provided in a remote-controlled operation system having an operation system and an execution system, for automatically producing a trajectory of a manipulator-head remote-controlled by an operation in the operation system at a distance from the working site of the manipulator-head, an environment model storage memory being communicatably connected to the automatic manipulator-head trajectory producing system, said environmental model storage memory storing information of an execution environment of the manipulator-head including an arrangement of the manipulator-head and obstacles, comprising:

• trajectory template register means for previously storing a plurality of trajectory templates designating an estimated head-trajectory of a manipulator on the basis of an execution environment of the manipulator;
• manipulator-head trajectory producing means for producing a head trajectory by inspecting templates for an interference of the manipulator and an obstacle for each of said trajectory templates previously stored by the trajectory template register means;
• a priority order granting section, included in the manipulator-head trajectory producing means, granting a priority order to respective trajectory templates stored by the trajectory template register means based on the execution environment of the manipulator, the manipulator-head trajectory being produced by said manipulator-head trajectory means on the basis of the priority order of the trajectory templates granted by the priority order granting section, said priority order granting section determining the priority order and granting priority rating points on a basis of a positional relationship between a present position and a target position of each of the manipulator and the obstacle.

An automatic manipulator-head trajectory producing system, provided in a remote-controlled operation system having an operation system and an execution system, for automatically producing a trajectory of a manipulator-head remote-controlled by an operation in the operation system at a distance from the working site of the manipulator-head, an environment model storage memory being communicatably connected to the automatic manipulator-head trajectory producing system, said environmental model storage memory storing information of an execution environment of the manipulator-head including an arrangement of the manipulator-head and obstacles, comprising:

• trajectory template register means for previously storing a plurality of trajectory templates designating an estimated head-trajectory of a manipulator on the basis of an execution environment of the manipulator;
• manipulator-head trajectory producing means for producing a head trajectory by inspecting templates for an interference of the manipulator and an obstacle for each of said trajectory templates previously stored by the trajectory template register means;
• a first interference inspecting section which inspects an interference of the trajectory template and the obstacle for each said trajectory template stored by the trajectory template register means;
• a curve interpolation section that interpolates the trajectory template after determination by the first interference inspecting section on the basis of operation characteristics of the manipulator, that the trajectory template is not interfered with;
• and
• a second interference inspecting section that inspects an interference of the manipulator and the obstacle on the basis of an interpolation result by the curve interpolation section.