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

自主微型物体处理系统面向任务的控制研究

基本信息

批准号：
04452154
负责人：
HATAMURA Yotaro
金额：
$ 4.35万
依托单位：
the University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1992
资助国家：
日本
起止时间：
1992 至 1993
项目状态：
已结题

项目摘要

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.

研究的目的在于实现面向任务的控制，在不破坏高分辨率光学显微镜下的微机械等微小物体的情况下，保证任务的可靠自主执行。主要研究成果如下：1.集中式运动机械手的实现：针对微对象处理任务，明确了操作系统执行微对象处理所需的功能。提出了一种适用于处理小物体的“集中运动机械手”的设计思想，并设计并实现了一种新的操作系统。该机械手具有7自由度的S，具有万向表级别的位置精度。该操作系统的主要特点是将机械手的运动集中在显微镜的视场中心，以确保在视觉监控下执行任务。实现面向任务的控制：在微观任务执行中，机器人频繁地破坏对象，因为在我们的宏观世界中，对象比对象弱得多。针对这一问题，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)机器人利用工作环境的几何模型来预测非常近期的任务情况，并且机器人计划其传感器的使用以确保任务状态的可靠识别，b)机器人利用与a)相同的预测过程来规划行为以从错误状态恢复到正常状态并执行所规划的行为。通过快速重复规定的程序，机器人可以可靠地完成任务。微机械装配实验：通过集成上述硬件和软件，成功地完成了微机械装配的微任务执行以及微图形的修复，证明了面向任务的控制方法的有效性。