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

在太空中使用的操纵臂被认为是火箭从地球发射时的有效载荷。这就是为什么空间操纵器必须设计得尽可能轻的原因之一。在太空中，重力接近于零。即机械手不需要支撑搬运物料的重量。考虑到这些条件，空间机械臂被设计为与地球上的机械臂不同的纤细和灵活的机械臂。空间机械臂由主从系统操作。可以肯定的是，由刚性的主臂操作柔性的从臂是非常困难的，需要熟练的工作。本研究的目的是开发一套训练系统，使空间机械臂操作者能够在地球上进行训练。最重要的是降低柔性机械手的振动。如果能在主臂和从臂之间安装减振控制器，操作起来就容易多了。为此，人们对柔性臂的振动控制进行了大量的理论研究。柔性臂的数学建模是研究柔性臂振动控制的重要内容。为了控制柔性臂的振动，必须实时求解柔性臂的动力学问题。采用有限元法对柔性机械臂进行分析的研究较多。然而，有限元法不能应用于实时问题。必须引入一个简单但必要的模型。本研究引入了准动力学模型。我们考虑一个无质量的梁，质量只考虑在梁的和点处。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。对于这样的汽车，很容易控制振动。构造了实际的主从系统，将振动控制器置于主臂和从臂之间。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