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

非完整环境耦合人体运动分析与控制——及其在非完整空间机器人遥操作系统中的应用——

• 批准号: 10650249
• 负责人: NARIKIYO Tatsuo
• 金额: $ 2.05万
• 依托单位: Toyota Technologycal Institute
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650249/
• 关键词: Space Robot; Teleoperation; Mastor-S;ave System; Nonholonomic; マスタ・スレーブシステム; 非ホロノミックシステム; 生体運動; 遠隔操作制御

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.

近年来，太空作为机器人技术的新应用领域引起了人们的极大兴趣。搭载多个机械臂的人造卫星的研究较多，可以在绕地轨道上自由飞行，也可以在空间站上工作。另一方面，主从式遥操作系统也已被用来辅助操作者在太空执行复杂、不确定的任务。该系统由位于空间站或地面的固定底座的主机械臂和在空间工作的从机械臂组成。本研究对自由飞行空间机器人的主从遥控控制系统进行了分析和设计。所提出的控制系统确保从机器人对主机器人的准确跟踪以及从机器人底座的稳定性。为了设计这个控制系统，我们最初引入了姿态反作用力。通过假设操作人员和工作环境的被动性，通过被动性的检验保证了整个系统的稳定性。为了检查所提出的遥操作控制系统的控制性能，我们制作了用于遥操作的实时模拟器。我们通过实时模拟器的模拟和实验证明了所提出方案的有效性和系统的性能。

项目成果

T.Narikiyo, S.Okada et al: "Controller Design for Master-Slave Teleoperation in Space"Proceedings of ASCC 2000. (発表予定). (2000)

T.Narikiyo、S.Okada 等人：“太空中主从远程操作的控制器设计”ASCC 2000 论文集。（待提交）。

T.Narikiyo, M.Katch: "Stabilization of Nonholonomic Dynamic System Based on the Force/Torque Feedback and Its Application"Recent Advances in Mechatorinics. Springer. 560-574 (1999)

T.Narikiyo、M.Katch：“基于力/扭矩反馈的非完整动态系统的稳定及其应用”机电学的最新进展。

T.Narikiyo, S.Okada et al.: "Controller Design for Master-Slave Teleoperation in Space"Proceedings of ASCC2000. (To Appear).

T.Narikiyo、S.Okada 等人：“太空主从远程操作控制器设计”ASCC2000 论文集。

T.Narikiyo, M.Katoh: "Stabilization of Nonholonomic Dynamic Systems Based on the Force/Torque Feedback and Its Application"Recent Advances in Mechatronics (Springer). 560-574 (1999)

T.Narikiyo、M.Katoh：“基于力/扭矩反馈的非完整动态系统的稳定及其应用”机电一体化的最新进展（Springer）。

N.V.Q.Hung, T.Narikiyo et al: "Controller Design for Master-Slave System in Tele-Operation with Kinematic Dissimilarity"Proceedings of ASCC 2000. (発表予定). (2000)

N.V.Q.Hung、T.Narikiyo 等人：“具有运动学差异的远程操作中的主从系统控制器设计”ASCC 2000 论文集。（待提交）。