Development of inter-world intelligent handling system

研究和开发了以下项目：（i）2+1维操纵杆，（ii）具有固定视点的视觉信息采集系统，（iii）使用切削物理模型的时间延迟补偿，（iv）使用信息转换的信息预测和强调方法，以及（v）基于操作环境传输的远程加工和远程微处理/加工实验。在本研究的背景下，“不同的世界”意味着分离的物理域或环境，人类操作员不能使用正常的人类感知能力访问。为了实现这样的系统，必须将机器控制数据和关于加工力、加工温度、加工声音或视觉数据的感测数据传输给操作者，以将不同的世界与人类世界联系起来。虚拟实现的一个不同的世界周围的人类操作员被称为“操作环境传输。“开发了“2+1维操纵杆” ...更多信息 来向操作员提供力的信息。通常，物体的位置由人类操作者的左手确定，而处理/切割操作由右手执行。为此，开发了二维操纵杆和一维操纵杆，用于三维力的显示。固定视点的视觉信息采集系统由用于捕捉目标物体的平移机构，用于从任意角度观察物体的旋转机构，同时将目标物体保持在显微镜的视场内，并通过变焦机构实现任意的放大倍率。此外，- 使用切削的物理模型，例如稳定性波瓣图，在一台多传感器集成加工中心和一台微处理/东京的加工系统成功地从乔治华盛顿大学使用上述方法和系统运行。少

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