Tele-Existance Display System for Tele-Operation of a Hydraulic Excavator

工程机械的遥操作不仅是为了提高一般建筑和民用作业的效率，而且也是为了深入地下，甚至是在灾害地区或危险环境中的救生和恢复任务的发展。然而，只有少数的实验演示已经完成，进一步的实际应用尚未实现。这主要是由于人机界面技术还没有足够成熟，使操作者能够获得良好的远程存在感。在本研究中，我们致力于开发人机界面技术的以下三个关键要素：（1）产生运动视差的3D远距可视化系统，（2）显示动态加速度的AC电动机驱动并联机构，以及（3）提出了一种用于并联机构动态控制的并行计算算法，通过观察头部运动引起的视觉差异，提高人的空间识别能力。第一个主题是将运动视差整合到三维可视化系统中。在第二个课题中，我们开发了一个6D0F并联机构，该机构使用六台交流电机（每台1.3千瓦，最大惯性负载70公斤，最大加速度2G，工作空间0.5*0.5*0.3平方米）。我们采用了H.Funahashi教授的小组（东京工业大学）先前优化的运动学设计。在第三个主题中，我们发展了一个平行计算演算法，以进行并联机构的即时动态控制。

The tele-operation of construction machinery has been studied with a hope not only of the improved efficiency of common constructing and civil operations, but also of the developments of very deep underground and even the life-saving and recovering missions at a disastered area or in hazardor enviroments. However, only a few experimental demonstrations have been done and further practical applications have not yet been attained. This is mainlly due to the fact that the humann interface technology has not sufficiently matured such that an oprator can get good sensations of tele-existence.In this research, we worked on the development of the following three key elements of the human interface technology :(1) a 3D tele-visualization system that generates the movement parallax,(2) an AC Motor driven parallel mechanism that displays dynamic acceleration and(3) a parallel computation algorithm for the dynamic control of the parallel mechanism.A man can improve his spatial recognition by seeing the visual difference due to his head movement. The first subject is on the integration of the movement parallax into a three dimentional visualization system. In the scond subject, we developed a 6D0F parallel mechanism using six AC motors (1.3 kw each, Maximum inertia load 70 kg, Maximum acceleratio 2G,Work space 0.5*0.5*0.3 m^3). We adopted the kinematic design that Prof. H.Funahashi's group (Tokyo Institute of Technology) had previously optimized. In the third subject, we developed a parallel Computational algorithm for the real-time dynamic control of the parallel mechanism.