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

在太空中使用的机械手被认为是火箭从地面发射时的有效载荷。这就是为什么太空机械手必须设计成像Possidle一样轻的原因之一。在太空中，重力接近于零。这意味着机械手不需要支撑搬运材料的重量，考虑到这些情况，空间机械手设计成不同于地球上的机械手的轻巧灵活的结构，空间机械手采用主从系统进行操作。可以肯定的是，刚性主臂对柔性从机械臂的操作是非常困难的，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员能够在地球上进行训练，其中最重要的是降低柔性机械臂的振动。如果我们能在主机械臂和从机械臂之间安装减振控制器，t…手术越多，就容易得多。为此，人们对柔性臂的振动控制进行了大量的理论研究，建立柔性臂的数学模型是讨论柔性臂振动控制的关键。为了控制柔性臂的振动，必须实时求解柔性臂的动力学。针对柔性机械臂有限元分析的研究较多。然而，有限元方法不能用于实时问题。必须引入一个简单但基本的模型。在本研究中，引入了准动力学模型。我们考虑无质量的梁，质量只在梁的和点处考虑。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。对于这样的模型，振动很容易控制。我们构建了实际的主从系统，并将振动控制器放置在主机械臂和从机械臂之间。与不带振动控制器的系统相比，该系统操作简单。较少

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