PURPOSE: To improve the operability series by independently computing a relative state by an operation series control system and a working series control system operated by means of a work message.
CONSTITUTION: A ground series control system as an operation steries control system comprises a central processing layer CPU 101, an image measuring means 102 connected thereto, a graphic display 103, and an input output device 104. An on-track control system as a working series control system comprises a central processing unit CPU 101, a image measuring device 102, and a slave arm input output device 105. An on-track series system is caused to execute a work according to a command from the ground series control system. The respective CPUs 101 for the two systems individually control a work environment model, and perform control based on respective image measurement results such that working environment where the working is actually executed is kept equal to a work environment model, and work image level communicated is carried out therebetween.
KAMESHIMA KOJI
YAMAMOTO HIROSHI
HAMADA TOMOYUKI
KIMURA KEIICHI
KIKUCHI HIRONARI
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