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Acquisition of Next Generation Dual-arm Teleoperation Technology through Hybrid Simulation

通过混合仿真获得下一代双臂遥控技术

基本信息

批准号：
16206024
负责人：
UCHIYAMA Masaru
金额：
$ 30.7万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2007
项目状态：
已结题

项目摘要

The aim of this research is to develop a next generation dual-arm teleoperation technology through exploiting a hybrid motion simulation technology to simulate micro-gravity environment. It is expected that the aim can be achieved by integrating the hybrid motion simulation technology which has been developed and verified in the head investigator's laboratory into dual-arm robot based teleoperation. Following this idea, a system is designed to be capable of simulating tasks such as robotic assembly of truss structures, and robotic retrieval of satellites, which are undertaken in micro-gravity environment. The main achievements of this research project are summarized as follows.1. A hybrid motion simulator characterized by a 9DOF motion table is developed and evaluated. This introduction is verified to be helpful to greatly enlarge the region of motion indication.2. With the developed system, dual-arm robot based assembly involved with time delay is investigated. Some approaches like pa … More rtially automating some of assembly processes, and vision based operation assistance are proposed. With these technologies implemented, assembly of a complex truss structure is achieved by teleoperation even under 5 second time delay.3. The dynamic consistency of the hybrid motion simulation is analyzed. It contributes to answer whether the indicated motion by the simulator can be trusted as the reproduction of the real physical phenomenon. A system consistency evaluation method is proposed. It takes rebound coefficient as the main evaluation factor. And for the two main consistency related factors, servo error and time delay, compensation approaches are proposed and validated, respectively.4. The efficiency of developed system is validated by simulating a task of capturing a rotating object by the dual-arm robot, which is expected to imitate the task of practical robotic satellite retrieval. In this research, the simulation system helps to propose a capturing strategy for such a complex task. Less

本研究的目的是通过利用混合运动模拟技术来模拟微重力环境，开发下一代双臂遥控技术。预计通过将首席研究员实验室开发和验证的混合运动仿真技术集成到基于双臂机器人的远程操作中可以实现这一目标。遵循这一想法，系统被设计为能够模拟在微重力环境下进行的桁架结构的机器人组装和卫星的机器人检索等任务。本研究项目的主要成果如下： 1．开发并评估了一种以 9DOF 运动台为特征的混合运动模拟器。经验证，该引入有助于极大地扩大运动指示区域。 2．利用所开发的系统，研究了涉及时间延迟的基于双臂机器人的装配。提出了一些方法，例如部分自动化某些装配过程以及基于视觉的操作辅助。通过这些技术的实施，即使在5秒的延时下，也可以通过遥操作实现复杂桁架结构的组装。 3．分析了混合运动仿真的动态一致性。它有助于回答模拟器所指示的运动是否可以被信任为真实物理现象的再现。提出了一种系统一致性评价方法。以回弹系数作为主要评价因素。针对伺服误差和时延这两个主要的一致性相关因素，分别提出并验证了补偿方法。 4．通过模拟双臂机器人捕获旋转物体的任务来验证所开发系统的效率，该任务有望模拟实际机器人卫星检索的任务。在这项研究中，模拟系统有助于为如此复杂的任务提出捕获策略。较少的