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Fault Tolerance Micro-manipulation System and Its Application to Teleoperation Tasks

容错微操作系统及其在遥操作任务中的应用

基本信息

批准号：
16560230
负责人：
YAMAMOTO Yoshio
金额：
$ 2.43万
依托单位：
Tokai University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2005
项目状态：
已结题

项目摘要

Efficacy of force feedback in a micro manipulation system has been widely recognized. However, the fact that a practical application is yet to be seen is due to the following two major reasons : (I) lack of means to provide a stable force feedback signals, (II) lack of means to realize a teleoperation even under the presence of communication delay. The current study is aimed at dealing with these problems under the scenario of micro manipulation. In order to deal with (I), we propose to apply the concept of "fault tolerance" by utilizing redundant sensing means. By doing so, a faulty sensor can be backed up by a secondary sensor so that the operation side can keep receiving force signals without interruptions. (II) is coped with by means of the virtual model which mimics an operational probe of the micro manipulation system. The virtual model enables the operator to accomplish manipulation tasks according to a reaction force reflected from the model rather than from the actual system. The biggest advantage of adopting such a virtual model is the absence of time-delay. If the force feedback signal is created based on the real force measurement, the communication time-delay becomes substantial so that the operator can hardly execute manipulation tasks.We have conducted actual teleoperation experiments in which a haptic device (PHANToM) was used to operate the micro manipulation system over the Internet. TCP and UDP were tested for comparison purposes and it was found that UDP serves better for our purpose. We also verified that the virtual model is extremely useful so that even novice user can handle the micro manipulation system under teleoperation. In addition, a new mechanism was introduced to enhance the functionality of the micro manipulation system. Offset planar hinge link mechanism was adopted to provide a posture control of the probe.

力反馈在微操作系统中的作用已得到广泛认可。然而，实际应用尚未被看到的事实是由于以下两个主要原因：（I）缺乏提供稳定的力反馈信号的手段，（II）缺乏即使在存在通信延迟的情况下也能实现遥操作的手段。本研究的目的是在微操作的情况下处理这些问题。为了处理（I），我们提出通过利用冗余感测手段来应用“容错”的概念。通过这样做，故障传感器可以由辅助传感器备份，使得操作侧可以保持接收力信号而不中断。(II)是应付的虚拟模型，它模仿微操作系统的操作探针的装置。虚拟模型使操作者能够根据从模型而不是从实际系统反射的反作用力来完成操作任务。采用这种虚拟模型的最大优点是没有时间延迟。如果力反馈信号是建立在真实的力测量的基础上，通信时间延迟变得相当大，使操作员几乎不能执行操作tasks.We进行了实际的遥操作实验中，触觉设备（PHANToM）被用来操作的微操作系统在互联网上。TCP和UDP进行了测试，以进行比较，发现UDP更适合我们的目的。我们还验证了虚拟模型是非常有用的，即使是新手用户可以处理下遥操作的微操作系统。此外，还引入了一种新的机制来增强微操作系统的功能。采用偏置平面铰链连杆机构对测头进行姿态控制。