Automatic Explosives Loading System Based on Motion Reproduction Adapting to Changes in Hole Position

Explosive loading in mountain tunneling requires automation due to a shortage of skilled workers and occupational accidents. However, automation is difficult because handling explosives demands delicate force control. This paper adopts motion reproduction based on human motion to consider the adjustment of force. Nevertheless, conventional methods fail when the hole's position differs from the recording. Therefore, a new method is proposed that detects hole positions using a stereo camera, performs calibration, and compensates for positional differences while reproducing the motion. Through experiments using industrial manipulators, it is confirmed that motions are reproduced for different hole positions from the recording.