Study on Dual Arm Intelligent Robot for Space Application

这个项目是在1990财政年度进行的。项目期间，派出2名研究人员出国，并从国外邀请3名研究人员。通过研究人员的交流，成功地完成了双臂空间智能机器人的国际合作。被派往国外的两名研究人员分别是日本东北大学的龟山教授和内山教授。龟山教授访问了美国加州大学圣巴巴拉分校，并与该校教授就空间机器人技术进行了座谈。巴约和中村。当时恰好访问美国的内山教授也参加了会议。他还访问了法国蒙彼利埃第二大学，并与道切斯博士及其研究生就双臂机器人技术进行了会议。他还与皮埃罗先生会面，讨论了他正在开发的一种平行机器人。从国外邀请来的三名调查人员分别是道切斯博士、教授、巴约和中村。他们同时访问了日本东北大学，并与教授们就空间机器人进行了会谈。龟山和内山。此外，所有研究人员在该项目与日本机器人学会合作组织的空间双臂智能机器人国际研讨会上介绍了他们最近的研究。来自日本各地的约40名研究人员参加了研讨会。本报告载有这次讲习班的会议记录。总之，这个项目是成功的，取得了丰硕的成果，其中一些成果可以在未来的合作中得到借鉴。其中包括柔性机器人手臂的建模和控制，这可以是教授之间的联合项目。内山和巴约平行机器人可以成为教授之间的联合项目。内山，龟山，道切斯博士和皮埃罗先生。

This project was undertaken in the fiscal year of 1990. During the period of the project, two investigators were sent abroad and three investigators were invited from abroad. Through this communication of investigators, international collaboration on dual arm intelligent robotics in space was done successfully.The two investigators who were sent abroad were Prof. Kameyama and Prof. Uchiyama at Tohoku University. Prof. Kameyama visited University of California, Santa Barbara, U. S. A. and had a meeting on space robotics with Profs. Bayo and Nakamura. Prof. Uchiyama who happened to have visited U. S. A. at that time joined the meeting. He also visited University Montpellier II, France and had a meeting on dual arm robotics with Dr. Dauchez and his graduate students. He also had a meeting with Mr. Pierrot and discussed on a parallel robot which he was developing.The three investigators who were invited from abroad were Dr. Dauchez, Profs. Bayo and Nakamura. They visited Tohoku University simultaneously and had a meeting on space robotics with Profs. Kameyama and Uchiyama. Moreover, the all investigators presented their recent research at the International Workshop on Dual Arm Intelligent Robotics in Space which was organized supported by this project in cooperation with the Robotics Society of Japan. At the workshop about forty researchers from all parts of Japan participated. The proceedings of this workshop is included in this report.In conclusion, this project was successful and yielded fruitful results some of which can be taken over by future collaboration. Those include modeling and control of flexible robot arms which can be a joint project between Profs. Uchiyama and Bayo parallel robots which can be a joint project among Profs. Uchiyama, Kameyama, Dr. Dauchez and Mr. Pierrot.