PURPOSE: To reduce a work burden by providing a means to switch operation to control to cooperate with an operation command of a manipulator when a moving means completes an autonomous movement up to a work point in a remote control device of a mobile manipulator having the moving means to autonomously move while avoiding an obstacle.
CONSTITUTION: A mobile robot manipulator 1 autonomously moves up to a work point while avoiding an obstacle by an obstacle detecting part 4c and a monitoring camera 1c. When it arrives at the work point, an operator OP performs various works by operating a manipulator 1a by a manipulator operating device 2a while looking at the state of affairs of a job site whose image is picked up by the monitoring camera 1c by an image display device 2b. In this case, after the manipulator 1 arrives at the work point, a moving carriage 1b is switched to an automatic adjusting mode, and at this time, a movement of the carriage is determined by a manipulator control part, and for example, when approach is determined, an approach flag is transmitted to a moving carriage control part.
MAEZAWA HIROYUKI
NAKAJIMA KOJI
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