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

空间机械臂操作员培训系统的开发研究

• 批准号: 61850041
• 负责人: MIURA Hirofumi
• 金额: $ 10.11万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research
• 财政年份: 1986
• 资助国家: 日本
• 起止时间: 1986 至 1988
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-61850041/
• 关键词: Space Manipulator; Flexible Manipulator; Elastic Manipulator; Robot Simulator; 弾性アーム

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

当火箭从地球发射时，在太空中使用的机械臂被认为是火箭的有效载荷。这就是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。这意味着机械臂不需要支撑搬运物料的重量。考虑到这些条件，空间机械臂被设计得比地球上的机械臂更纤薄、更灵活。空间机械臂采用主从系统操作。可以肯定的是，通过刚性主臂操作柔性从机械臂是非常困难的，需要熟练的工作。本研究的目的是开发一种训练系统，以便空间机械臂的操作者可以在地球上进行训练。最重要的是减少柔性机械臂的振动。如果我们能在主臂和从机械臂之间安装减振控制器，操作就会容易得多。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。必须实时求解柔性臂的动力学以控制振动。使用FEM（有限元法）分析柔性机械臂的研究有很多。然而，FEM 不能应用于实时问题。必须引入一个简单但重要的模型。在本研究中引入了准动力学模型。我们考虑无质量梁，并且仅在梁的 和 点处考虑质量。假设变形曲线与根据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，振动控制很容易。我们构建了实际的主从系统，并将振动控制器放置在主臂和从机械臂之间。与不带振动控制器的系统相比，该系统操作方便。较少的

项目成果

呉忠霖,下山勲,三浦宏文: 第4回日本ロボット学会学術講演会講演論文集. 399-400 (1986)

Chunglin Wu、Isao Shimoyama、Hirofumi Miura：日本机器人学会第四届学术会议论文集 399-400（1986）。

呉忠霖,下山勲,三浦宏文: 第5回日本ロボット学会学術講演会講演論文集. 317-320 (1987)

吴中林，Isao Shimoyama，Hirofumi Miura：日本机器人学会第五届学术会议论文集 317-320（1987）。

I. Shimoyama: "Manipulators with Flexible Links: A Simple Model and Experiments" Proceedings of NASA Conference on Spacerobotics. (1989)

I. Shimoyama：“具有灵活链接的机械手：简单模型和实验”美国宇航局太空机器人会议论文集。

Chung-Ling, Wu; Isao, Shimoyrma; Hirofumi, Miura: "Design and Motion Control of Flexible Arm" Proceedings of the 4th Symposium of the Robotics Society of Japan. 399-400 (1986)

吴中玲；

T.Komatsu: Proceedings of NASA Conference on Space Robotics. (1989)

T.Komatsu：美国宇航局太空机器人会议论文集。