Study on Dual Arm Intelligent Robot for Space Application

该项目于1990财政年度实施。在项目执行期间，两名调查员被派往国外，三名调查员被邀请到国外。通过这次研究人员交流，成功地实现了空间双臂智能机器人的国际合作。此次被派往国外的两位研究人员是东北大学的龟山教授和内山教授。龟山教授访问美国加州大学圣巴巴拉分校S. A.和教授们开了一个关于太空机器人的会议贝代和中村。内山教授碰巧访问了美国。S. A.当时参加了会议。他还访问了法国蒙彼利埃第二大学，并与Dauchez博士及其研究生举行了双臂机器人会议。他还会见了皮埃罗先生，并讨论了他正在开发的并联机器人。贝代和中村。他们同时访问了东北大学，并与教授们就太空机器人技术举行了会议。龟山和内山。此外，所有研究人员都在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，该研讨会是由该项目与日本机器人学会合作举办的。来自日本各地的约40名研究人员参加了研讨会。研讨会的会议记录载于本报告，最后，该项目是成功的，取得了丰硕成果，其中一些成果可以通过今后的合作加以继承。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Bayo并联机器人，可以成为教授之间的联合项目。内山、龟山、多奇兹博士和皮埃罗先生。

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.