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Development of inter-world intelligent handling system

跨界智能搬运系统开发

基本信息

批准号：
04044050
负责人：
MITSUISHI Mamoru
金额：
$ 8.96万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for international Scientific Research
财政年份：
1992
资助国家：
日本
起止时间：
1992 至 1993
项目状态：
已结题

项目摘要

The following items have been investigated and developed : (i) 2+1 dimensional joystick, (ii) visual information acquisition system with a fixed visual point, (iii) compensation of time delay using a physical model of cutting, (iv) information prediction and emphasis method using information transformation, and (v) tele-machining and tele-micro handling/machining experiments based on operational environment transmission. In the context of this research, "different worlds" connote separated physical domains or environment which human operator cannot access by using normal human sensing abilities. To realize such a system, machine control data and sensed data concerning machining force, machining temperature, machining sounds or visual data must be transmitted to the operator to link the different worlds and the human world. The virtual realization of a different world around the human operator is called "operational environment transmission."The "2+1 dimensional joystick" was developed … More to present force information to a human operator. In general, the position of an object is determined by the left hand of a human operator and the handling/cutting operation is executed by the right hand. Therefore, 2 dimensional joystick and the 1 dimensional joystick were developed for 3 dimensional force presentation.The visual information acquisition system with a fixed visual point consists of a translation mechanism to catch the target object, a rotational mechanism to observe an object from an arbitrary angle, while keeping the target object in the visual field of the microscope and a zoom mechanism to realize arbitrary magnification ratios.Furthermore, the presentation of predicted and emphasized information, in particular auditory, visual and force information using physical model of cutting, for example, stability lobe diagram, was proposed and the key components were realized.In the experiment a multi-sensor integrated machining center and a micro-handling/machining system in Tokyo were successfully operated from the George Washington University using the methods and the system mentioned above. Less

研究开发了以下项目：(1)2+1维操纵杆，(2)固定视点的视觉信息采集系统，(3)利用切削物理模型补偿时间延迟，(4)利用信息变换的信息预测和强调方法，(5)基于操作环境传递的远程加工和远程微搬运/加工实验。在本研究的背景下，“不同的世界”意味着分离的物理领域或环境，人类操作员无法通过正常的人类感知能力进入。为了实现这样一个系统，必须将机器控制数据和有关加工力、加工温度、加工声音或视觉数据的传感数据传输给操作员，以连接不同的世界和人类世界。人类操作者周围不同世界的虚拟实现被称为“操作环境传输”。开发了“2+1维操纵杆”…更多的是为了向人类操作员呈现力量信息。一般来说，一个物体的位置是由人类操作员的左手决定的，而搬运/切割操作是由右手执行的。因此，开发了用于三维力表示的二维操纵杆和一维操纵杆。视点固定的视觉信息采集系统由捕捉目标物体的平移机构、保持目标物体在显微镜视野内从任意角度观察物体的旋转机构和实现任意放大倍率的变焦机构组成。在此基础上，提出了用切削过程的物理模型（如稳定性叶瓣图）来表示预测和强调信息，特别是听觉、视觉和力信息，并实现了关键部件。在实验中，利用上述方法和系统成功地运行了位于东京的乔治华盛顿大学的多传感器集成加工中心和微搬运/加工系统。少