Time-Space Scaling for Tele-manipulators

本文由第一部分和第二部分组成。第一部分：提出了一种用于微操作的时间定标控制方法。当我们操纵极大或极小尺寸的目标时，用于微遥控的工具是必要的。这种类型的工具必须以双边方式放大或缩小尺寸和力。但是，时间尺度也应该考虑建立这样的理想环境，因为我们可以感觉到我们的身体尺寸被缩放到目标尺寸。本文以一台实验主从机械手为例，用该时间尺度方法对遥操作过程中的目标识别进行了评估。第二部分，描述了一种具有通信时延的主从机械手的控制。遥操作系统需要实时的双向力和位置信息来实现自然的操作感觉，而通信线路通常具有不可忽略的时延，提出了一种利用虚拟环境模型控制的系统。使用这个系统，操作员会感觉到他工作没有时间延误。

This paper is composed of part I and part II.Part I ; we propose a time scaling control method for micro tele-manipulations. Tools for micro tele-manipulation are necessary when we manipulate an extremely large or small size target. This type of tool has to scal up or scal down both of size and force in bilateral way. But, time scaling should also be considered to build up such ideal environment as we can feel our body size is scaled to the target size. This paper evaluates target recognition in tele-operation process by an experimental master-slave manipulator with this time scaling method.Part II ; we describe a control of master-slave manipulator with communication time delay. Tele-operation systems need real time force and position information in bilateral way to realize natural operation feeling, while communication lines usually have nonnegligible time delay.We propose a system using of virtual environment model control. Using this system, operator gets feeling like that he works without time delay.