Study on Integration of Advanced Space Telerobots Technology

在本课题中，我们主要开发了基于模型的远程操作系统、奇异一致性远程操作系统和紧凑的高性能6-D.O。F触觉界面系统。此外，最后，这些系统集成到一个先进的空间遥操作系统。这个项目的成果如下。建立了对几何建模误差和动态建模误差都具有鲁棒性的基于模型的遥操作系统。该系统可以在长时间延迟的情况下向操作员显示力反射。因此，从臂可以安全地完成其任务。将奇异一致性方法应用于空间遥操作系统中，该方法在可行关节速度的情况下，在指令方向上不产生任何误差。该系统包括基于共享控制的指令方向补偿和基于虚拟现实的操作员支持系统。我们实现了一个特定的钉孔插入任务，它需要通过手腕奇点运动。高性能紧凑型6-D.O。开发了F触觉界面。它既具有广阔的工作空间，又具有快速移动的能力。以上三个系统集成成一个先进的空间遥操作系统。因此，我们可以实现高安全水平和强大的运行能力。最后，利用Internet进行了德国DLR与日本东北大学的远程操作实验，验证了系统的有效性。

In this project, we mainly developed a model based teleoperation system, singularity-consistent teleoperation system and a compact high performance 6-D.O.F haptic interface system. In addition, finally, these systems are integrated to an advanced space teleoperation system. The fruits of this project are addressed bellow.1. Model based teleoperation system which has robustness against both geometric and dynamic modeling errors is established. This system can display force reflection to an operator in spite of long time delay. Consequently, the slave arm can realize its task safely.2. Singularity-consistent approach, which can handle a singularity problem without any error in the command direction with feasible joint velocity, is applied to space teleoperation system. This system includes command direction compensation based on shared control and a virtual reality based operator support system.We realized a specific peg-in-hole insertion task which requires a motion through the wrist singularity.3. A high-performance compact 6-D.O.F haptic interface is developed. It can exhibit both a wide work space and quick motion ability.4. Above three systems are integrated into an advanced space teleoperation system.As a result, we can achieve both high safety level and robust operation ability.Finally, experiments of teleoperation between DLR in Germany and Tohoku University in Japan have been conducted using Internet to confirm the effectiveness of the system.