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

本研究的目的是设计一种新的操作辅助控制方法的定位任务，使用主从机械手。以空间遥控机械手为例，科普了从臂具有弹性的主从机械手。当操作员与这样的主从机械手执行定位任务，远程操作变得太困难，由于从臂的弹性振动，为了减少操作员的负担，并协助操作，我们设计了一种新的辅助控制方法和评估辅助效果使用所提出的评估方法。本研究之结论如下：1.提出一种新的辅助控制方法，具有以下功能。（a）通过从臂的自主运动来进行辅助以抑制从臂振动，（B）通过对操作者的力反馈来进行辅助以抑制振动的激励，（c）基于人的意图来切换辅助的控制（a）。我们通过使用应变信号反馈或加速度信号反馈来实现功能（a）和（B），并实现功能（c）2.从操纵性和操作者感觉的角度提出了一种辅助效果的评价方法提出的辅助控制方法，通过使用所提出的评估方法。(1)By将所提出的具有应变信号反馈或加速度信号反馈的辅助方法应用于单自由度系统，实现了良好的操纵性和良好的操作者感觉。(2)By将所提出的具有加速度信号反馈的辅助方法应用于四自由度系统，实现了良好的操纵性和良好的操作者感觉。

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.