Study on Intelligent Control of Space Remote Manipulator based on Human Skill

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The purpose of this research is to design a new operation assist control method for positioning tasks by using a master-slave manipulator. We cope with a master-slave manipulator having the elasticity on the slave arm, for example space remote manipulator. When the operator performs positioning task with such master-slave manipulator, the remote operation becomes too difficult owing to the elastic vibration of the slave arm. In order to reduce the operator's load and to assist the operation, we design a new assist control method and evaluate assist effect by using the proposed evaluation method. The conclusions of this research are as fellows.1.We propose a new assist control method having the following functions.(a)Assist by autonomous motion of slave arm to suppress slave arm vibration,(b)Assist by force feedback to an operator to suppress excitation of vibration,(c)Switching control of the assist (a)based on human intension.We realize the functions (a)and (b)by using strain signal feedback or acceleration signal feedback, and realize the function (c)by detecting operating speed of master manipulator.2.We propose an evaluation method of assist effect form the viewpoints of maneuverability and operator's feeling.3.We demonstrate the effectiveness of the proposed assist control method by using the proposed evaluation method.(1)By applying the proposed assist method with strain signal feedback or acceleration signal feedback to the one degree-of-freedom system, good maneuverability and good operator's feeling are accomplished.(2)By applying the proposed assist method with acceleration signal feedback to the four degrees-of-freedom system, good maneuverability and good operator's feeling are accomplished.