Developmental Research of Training System for the Operator of The Space Manipulator

火箭从地面发射时，在空间使用的机械手被认为是火箭的有效载荷。这就是为什么空间机械手必须设计得尽可能轻的原因之一。在太空中，重力几乎为零。考虑到这些条件，空间机械臂被设计成与地球上的机械臂不同的细长柔性机械臂，采用主从式系统进行操作。由刚性主臂操纵柔性从机械臂是非常困难的，需要熟练的操作技术，本研究的目的是开发一个训练系统，使空间机械臂的操作者能够在地面上进行训练，其中最重要的问题是减小柔性机械臂的振动。如果我们能在主臂和从臂之间安装减振控制器， 关于我们 手术就容易多了。为此，人们对柔性臂的振动控制进行了大量的理论研究，柔性臂的数学建模对于讨论振动控制非常重要。为了控制柔性臂的振动，必须对柔性臂的动力学进行真实的实时求解。利用有限元法对柔性机械臂进行分析的研究很多。但是有限元法不能用于真实的时间问题。必须引入一个简单但必要的模型，本文引入准动力学模型。我们考虑一个无质量的梁，只考虑梁的端点处的质量。假定变形曲线与由梁两端边界条件确定的无质量梁的静态变形曲线相同。对于这样的机器人，振动控制比较容易，我们构造了实际的主从系统，把振动控制器放在主臂和从臂之间。与不带振动控制器的系统相比，该系统操作方便。少

The manipulator which is used in the space is considered to be the payload for the rocket when it is launched from the earth. That is one of the reasons why the space manipulator must be designed to be as light as possidle. In the space,the gravity is near zero. It means that the manipulator need not support the weight of the handling material.Considering these conditions,the space manipulator is designed to be slim and flexible differing from the manipulator on the earth.The space manipulator is operated by the master-slave system. It is sure that the operation of a flexible slave manipulator by a rigid master arm is very difficult and skillful work is necessary.The purpose of this research is to develope a training system in order that the operator of the space manipulator can have a training on the earth.The most important matter is to reduce the vibration of the flexible manipulator. if we can install the vibration-reduction controller between a master arm and a slave manipulator,t … More he operation will be much easier. For this purpose,many theoratical studies have been done for control of vibration of a flexible arm.Mathematical modeling of the flexible arm is vEry important to discuss the vibration control. Dynamics of the flexible arm must be solved in real time to control the vibration. There are many studies of analysis of flexible manipulators using FEM(finite element method). However FEM can not be applied for real time problems. A simple but essential model must be introduced.In this research the quasi-dynamical model is introduced. We consider a massless beam and mass is considered only at the and point of a beam. The deformation curve is assumed to be the same to the static deformation curve of a massless beam decided from boundary conditions at the both ends a beam. For a such mobel, it is easy to control the vibration.we constructed the actual master-slave system and put the vibration controller between a master arm and a slave manipulator. This system can be operated easily comparing with the system without the vibration controller. Less