Analysis and Control of Human Movement Coupling with Nonholinomic Environment - With application to teleoperation System of Nonholonomic Space Robot -

近年来，空间作为机器人领域的一个新的应用领域，引起了人们极大的兴趣。目前已有许多研究表明，人造卫星配备了多个机械手，可以在绕地球轨道上自由飞行并在空间站工作，另一方面，主从式遥操作系统也被用来辅助操作员在太空中执行复杂和不确定的任务。该系统由空间站或地面固定基座的主机械手和工作在空间的从机械手组成，分析和设计了自由飞行空间机器人的主从遥操作系统。所提出的控制系统保证了从机器人对主机器人的准确跟踪和从机器人基座的稳定。为了设计该控制系统，我们引入了姿态反作用力。通过假设操作者和工作环境的被动性，通过对被动性的检查，保证了整个系统的稳定性。为了检验所提出的遥操作控制系统的控制性能，我们制作了遥操作实时仿真器。通过实时仿真器的仿真和实验，验证了所提方案的有效性和系统的性能。

In recent years, space has been attracting great interest as a new application field on robotics. There are many researches on artificial satellite equipped with several manipulators, which can freely fly on orbit around the earth and work on space station.On the other hand, master-slave teleoperation system also has been used to assist the operator to perform complex and uncertain tasks in space. The system consists of master manipulator with fixed base located in space station or on ground and Slave manipulator working in space.In this study, we analyzed and designed the master-slave teleoperation control system for the free flying space robot. The proposed control system ensures accurate tracking of slave robot upon the master robot and the stabilization of slave robot's base. In order to design this control system we introdduced originally an attitude reaction force. By assuming the passivity of human operator and working environment, the stability of whole system has been guaranteed by the check of passivity. In order to check the contro performnace of the propose teleoperation control system we made the real-time simulator for teleoperation. We have shown the validity of proposed scheme and performance of system via simulations and experiments used the real-time simulator.