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

用于液压挖掘机远程操作的远程存在显示系统

基本信息

批准号：
06555065
负责人：
YOSHIMOTO Kenichi
金额：
$ 4.29万
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：
1994
资助国家：
日本
起止时间：
1994 至 1995
项目状态：
已结题

项目摘要

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.

对建筑机械的电视操作进行了研究，不仅希望提高共同建设和民用作业的效率，而且希望在地下深处，甚至是在灾难地区或Hazardor环境中挽救生命和恢复任务的发展。但是，仅进行了一些实验示范，并且尚未实现进一步的实际应用。这主要是由于Humann界面技术尚未足够成熟，以至于Oprator可以获得良好的电视感觉感觉。在这项研究中，我们致力于开发人类界面技术的以下三个关键要素：（1）3D电视系统化系统，使运动驱动的机械驱动式机制，（2）AC驱动机能，该机构的动态（2）动态（2）动态（2）动态（2）（2）动态（2）动态（2）驱动器（2）动态（2）驱动器。平行机制的动态控制算法。一个人可以通过看到由于头部运动而导致的视觉差异来改善其空间识别。第一个主题是将运动视差整合到三维可视化系统中。在SCOND受试者中，我们使用六个AC电动机（每个1.3 kW，最大惯性负荷70 kg，最大加速2G，工作空间0.5*0.5*0.5*0.3 M^3）开发了6D0F并行机理。我们采用了H.Funahashi教授（东京理工学院）先前已经优化的运动学设计。在第三个主题中，我们开发了一种平行计算算法，用于对并行机理的实时动态控制。