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Research on Teleoperation Methods under Time-varying Communication Delays

时变通信时延下的遥操作方法研究

基本信息

批准号：
12450103
负责人：
YOKOKOHJI Yasuyoshi
金额：
$ 9.73万
依托单位：
Kyoto University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2002
项目状态：
已结题

项目摘要

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.

在本研究中，我们从多个角度进行了一些基础研究，以建立时变通信延迟下的遥操作方法。我们首先设计并开发了一个主从手，通过它可以执行一些灵巧的远程操作。我们还提出玩具积木组装作为远程操作系统的基准测试。在此基础上，提出了动态多指可操纵性测度，该测度在原有动态多指可操纵性测度的基础上进行了扩展，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。其次，我们提出了一种即使在时变通信延迟下也稳定的双边控制方法。在模拟Internet的计算机网络中进行了实验，验证了该方法的有效性。我们有机会用安装在工程测试卫星上的机械臂进行双边远程操作实验。七世(ETS-VII)。在6-7秒的时间延迟下，多次实验都取得了成功。人们一直认为，在如此长时间的延误下，双边控制是没有用的。然而，实验结果表明，动觉力反馈给操作者有助于完成任务，即使没有任何视觉辅助。最后，我们开发了一个可以在三维空间中执行任务的主从系统。然后，我们提出了一种使用有限运动范围的主臂进行远程操作的方法。利用开发的主从系统，我们评估了该方法的可操作性。我们还设计了一个主从手，它可以附着在开发的系统上，在三维空间中执行任务。这些研究结果可能为未来开发可通过Internet执行多项任务的远程操作系统提供重要的基础。