A Trial of Hybrid-Type Sensor Fusion System Using Micro-Multi-Axis Force Sensor

使用微型多轴力传感器的混合型传感器融合系统的试验

• 批准号: 03555046
• 负责人: MITSUISHI Mamoru
• 金额: $ 4.99万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research (B)
• 财政年份: 1991
• 资助国家: 日本
• 起止时间: 1991 至 1992
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-03555046/
• 关键词: Micro Handling System; Multi-Axis Force Sensor; Multi-Axis Force to Auditory Information Transformation; Reality Communication; Tele-Operation; Master-Slave System; Bilateral; 多軸力情報ー聴覚情報変換; ハイブリッド型センサ; 多点計測; 分布型圧力センサ; センサ・フュ-ジョン; マイクロ・マシン

The researchers developed a system that human operator can handle and machine an object in the micrometer world using multi-axis force information even though the operator exists in the normal human world. In the system the main controller is transputer system which allows distributed control. More concretely the following items were realized: (i)a tele-micro-machining and handling system which covers the range from micrometer to millimeter scale, and (ii)multi-axis force-to-auditory information transformation technique, concentrating auditory sense among the five human sense, to enhance the operability of the system.The tele-micro-handling/machining system consists of the following parts: (i)the micro-handling/machining mechanism, (ii)the master manipulator device, (iii)an (optical stereo) microscope with a CCD camera, (iv)the multi-axis force information to auditory information transformation module, and (v)the controller. The micro handling/machining mechanism consists of the right … More and left sets of hands. Each hand is made up of coarse positioners, fine positioners, a multi-axis force sensor and an end-effector (tool). Three-exis force sensors are installed on both the right and left hands to detect the applied force on each tool. The force sensor has a parallel plate structure and the deformation is detected by strain gauges. The rated maximum load value of the force sensor is 900 mN for each direction and the resolution is 0.45 mN. The multi-axis force signal is amplified by a strain amplifier and is acquired by the controller (transputer system). This signal is sent to the master manipulator to enhance the controllability by realizing force feedback type bilateral control. Furthermore the force information is transformed into auditory information by sending the signals to D.C. amplifiers which drive speakers. The coarse positioners and the precise positioners are each controlled by a transputer. Force signal detection for the 3-axis force sensors installed on the left and right micro-manipulators is also executed as an independent task on a transputer. The control software on the transputers and the server software on the UNIX workstation communicate using software executed on the root transputer installed on the s-bus of the workstation. The multi-axis force information from the force sensors is decomposed into the orthogonal force vectors concurrently on a transputer.The following experiments were executed to certify the effectiveness of the system. In the experiment, the operator is provided with the task of removing paint with a thickness on the order of 100 mum from an aluminum alloy substrate. The operator is requested to remove the paint with constant maximum force. This experiment is similar to the task of repairing the wiring of a printed circuit board. It became clear from the experiment that the operator can control the maximum value of the thrust force when the absolute value of the force is presented as auditory information. This experiment shows the effectiveness of the system. Less

研究人员开发了一种系统，即使操作者存在于正常的人类世界中，也可以使用多轴力信息在微米世界中操纵和加工物体。该系统以Transputer系统为主控制器，实现了分布式控制。具体实现了：(I)覆盖微米到毫米尺度的远程微加工和搬运系统；(Ii)多轴力-听觉信息转换技术，将听觉集中在五个人的感官中，以增强系统的可操作性。远程微加工/加工系统由以下部分组成：(I)微操作/加工机构，(Ii)主操作手装置，(Iii)带CCD摄像机的(光学立体)显微镜，(Iv)多轴力信息到听觉信息转换模块，以及(V)控制器。微操作/加工机构由正确的…组成更多和左手的手。每只手由粗定位器、精定位器、多轴力传感器和末端执行器(工具)组成。在右手和左手上都安装了三个出力传感器，以检测每个工具上施加的力。力传感器采用平行板结构，通过应变片检测变形。力传感器的额定最大负载值为900 mN，每个方向的分辨率为0.45 mN。多维力信号由应变放大器放大，并由控制器(Transputer系统)采集。该信号被送到主机械手，通过实现力反馈式的双边控制来增强可控性。此外，通过将信号发送到驱动扬声器的直流放大器，力信息被转换为听觉信息。粗略定位器和精密定位器分别由一个Transputer控制。安装在左右微操作手上的三维力传感器的力信号检测也是作为一项独立的任务在Transputer上执行的。Transputer上的控制软件和Unix工作站上的服务器软件使用安装在工作站的S总线上的根Transputer上执行的软件进行通信。将力传感器传来的多维力信息并行分解为多个相互垂直的力矢量，并通过实验验证了该系统的有效性。在实验中，操作员的任务是从铝合金衬底上去除厚度约为100微米的油漆。要求操作员以恒定的最大力移除油漆。这个实验类似于修复印刷电路板的布线。实验表明，当力的绝对值作为听觉信息时，操作者可以控制推力的最大值。实验结果表明了该系统的有效性。较少

项目成果

Mitsuishi,M., Kobayashi,K., Hatamura,Y., Sato,T. and Nagao,T.: "Tele-micro handling/machining system with reality communication based on multi-axis force to auditory information transformation" JSME Annual Conference on Robotics and Mechatronics. vol.930,

三石，M.，小林，K.，畑村，Y.，佐藤，T.

Mitsuishi.M., Kobayashi,K., Hatamura,Y., Sato,T. and Nagao,T.: "Tele-Micro Handling/Machining System with Reality Communication Based on Multi-Axis Force Information to Auditory Informaion Transformation Method" JSME Annual Conference. (1993)

三石.M.、小林K.、畑村Y.、佐藤T.

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Mitsuishi,M.: "Handling/Machining System Connecting Different World Using Virtual Reality Technology" Journal of the Robotic Society of Japan. vol.10, no.7. 909-920 (1992)

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