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

本研究的目的是通过开发混合运动模拟技术来模拟微重力环境，开发新一代双臂遥操作技术。期望通过将组长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遥操作中来实现这一目标。根据这一思想，设计了一个能够模拟在微重力环境中进行的机器人组装桁架结构和机器人回收卫星等任务的系统。本课题的主要研究成果概括如下：1.研究成果。研制了一种以9自由度运动平台为特征的混合运动模拟器，并对其性能进行了评价。这种引入被证实有助于极大地扩大运动指示的范围。利用所开发的系统，对具有时延的双臂机器人装配进行了研究。一些方法，如pa…提出了更合理地实现部分装配过程的自动化和基于视觉的操作辅助。在这些技术的实施下，即使在5秒的时间延迟下，也可以通过遥操作实现复杂桁架结构的装配。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估方法。它以回弹系数为主要评价因素。针对与一致性相关的两个主要因素--伺服误差和时延，分别提出了相应的补偿方法并进行了验证。通过模拟双臂机器人捕获旋转物体的任务，验证了所开发系统的有效性，以期模拟实际的机器人卫星回收任务。在这项研究中，仿真系统有助于为这样一个复杂的任务提出一种捕获策略。较少

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