Research on Teleoperation Methods under Time-varying Communication Delays

在本研究中，我们从不同的角度进行了一些基础研究，以建立一种时变通信延迟下的遥操作方法。我们首先设计和开发了一个主从手，可以执行一些灵巧的遥控操作。提出了玩具积木式组装作为遥操作系统的基准测试，并在原有的动态可操作性测度的基础上，提出了动态多指可操作性测度，使其能够对多指手进行评价。在此基础上，提出了主从手的设计准则。接下来，我们提出了一种双边控制方法，即使在时变通信延迟下也是稳定的。在模拟Internet的计算机网络上进行了实验，验证了该方法的有效性。我们有机会使用安装在工程试验卫星七号（ETS-VII）上的机器人手臂进行双边遥操作实验。甚至在6-7秒的时间延迟下成功地进行了几个实验。已经假设双边控制在如此长的时间延迟下是无用的。然而，实验结果表明，动觉力反馈给操作者是有助于完成任务，即使没有任何视觉aids.Finally，我们开发了一个主从系统，可以在3-D空间中执行任务。然后，我们提出了一种遥操作的方法，通过使用主臂与有限的运动范围。使用开发的主从系统，我们评估所提出的方法的可操作性。我们还设计了一个主从手，可以连接到开发的系统在3-D空间的任务。这些研究成果可能是一个重要的基础，在未来的遥操作系统，可以通过互联网进行多个任务。

In this research, we have conducted some basic researches in various viewpoints to establish a teleoperation method under time-varying communication delays. We first designed and developed a master-slave hand by which one can perform some dexterous telemanipulations. We also proposed toy block assembling as a benchmark test for teleoperation systems.Then, we proposed dynamic multi-fingered manipulability measure which was extended from the original dynamic manipulability measure so that it can evaluate multi-fingered hands. Based on this measure, we proposed design guidelines for master-slave hands. Next, we proposed a bilateral control method that is stable even under time-varying communication delays. We conducted some experiments in a computer network simulating the Internet and confirmed the effectiveness of the proposed method. We had a chance to conduct a bilateral teleoperation experiment with a robot arm mounted on the Engineering Test Satellite No. VII (ETS-VII). Several experiments were carried out with success even under 6-7 sec time delay. It has been assumed that bilateral control is no use under such long time delays. Experimental results, however, showed that kinesthetic force feedback to the operator was helpful to complete the tasks even without any visual aids.Finally, we developed a master-slave system that can perform tasks in 3-D space. We then proposed a teleoperation method by using a master arm with limited motion range. Using the developed master-slave system, we evaluated the manipulability of the proposed method. We also designed a master-slave hand that can be attached to the developed system for tasks in 3-D space.These research results may be an important basis for developing teleoperation systems that can conduct several tasks via the Internet in the future.