Research on Task-Oriented Control for Autonomous Micro Object Handling System

研究的目的在于实现面向任务的控制，保证在高分辨率光学显微镜下，在不破坏微小物体（如微机械）的情况下，可靠地自主执行任务。主要研究结果如下：1.集中运动机械手的实现：结合微小物体搬运任务，明确了完成微小物体搬运所需的机械手系统功能。提出了一种适用于小物体搬运的“集中运动机械手”的设计思想，并设计和实现了一种基于该思想的新型机械手系统。机械手有7个自由度。的位置精度达到100米级操作系统的主要特点是将操作器的运动集中到显微镜视场的中心，以确保任务的执行与视觉监控.实现面向任务的控制：在微观任务执行中，机器人经常会破坏物体，因为物体比我们宏观世界中的物体要弱得多。为了科普这个问题，我们实现了面向任务的控制。该控制方法是以下两个步骤的重复：a）机器人通过利用工作环境的几何模型来预测非常近的未来任务情况，并且机器人计划其传感器使用以确保任务状态的可靠识别，B）机器人计划利用与a）相同的预测过程从错误状态恢复到正常状态的行为，并且执行所计划的行为。通过快速重复所述程序，机器人可靠地追求任务。微机械装配实验：通过上述硬件和软件的结合，成功地完成了微机械装配的微任务执行和微图形的修复，验证了面向任务控制方法的有效性。

The purpose of the research lies in the realization of the task-oriented control which ensures reliable autonomous task execution without breaking very small object such as micromachine under high resolutional optical microscope. The results can be summarized as follows :1. Realization of concentrated motion manipulator : taking account of micro object handling tasks, we make clear the necessary functions of a manipulation system to execute micro object handling. A new design concept of "concentrated motion manipulator" suitable for small object handling is proposed and a new manipulation system based on the concept is designed and realized. The manipulator has 7 D.O.F.'s with mano-meter order positional accuracy. The main feature of the manipulation system is that motion of the manipulator is concentrated to the center of the field of view of a microscope to ensure task execution with visual monitoring.2. Realization of task-oriented control : In micro task execution, a robot frequently breaks the object, because the object is much weaker than the object in our macro world. To cope with this problem, we realized the task-oriented control. The control method is the repetition of the following two steps : a)the robot predicts very near future task situation by utilizing geometric model of the working environment and the robot plans its sensor usage to ensure reliable recognition of task status, b)the robot plans a behavior to recover from error status to normal status utilizing the same prediction procedures of a)and execute the planned behavior. By repeating the stated procedures rapidly, the robot reliably pursuit the task.3. Assembly experiment of micromachine : By integrating the hardware and software stated above, Such micro task execution of assembly of micro machines as well as the repair of micro patterns are successfully performed to prove the effectiveness of the task-oriented control method.