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Study on Integration of Advanced Space Telerobots Technology

先进空间遥控机器人技术集成研究

基本信息

批准号：
09044121
负责人：
TSUMAKI Yuichi
金额：
$ 4.03万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for international Scientific Research
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1998
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09044121/
关键词：
Space teleoperation Time delay Operator support system Network Multi-body dynamics Internet Singularity-consistent approach Model based teleoperation モデルペースト遠隔操作

项目摘要

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.

本项目主要研究了基于模型的遥操作系统、奇异性一致性遥操作系统和紧凑型高性能六自由度力觉交互系统。此外，最后，这些系统集成到一个先进的空间遥操作系统。该项目的成果如下所述。建立了对几何和动力学建模误差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者显示力反射。因此，从臂可以安全地完成其任务.将奇异性一致性方法应用于空间遥操作系统，该方法能够在控制方向上以可行的关节速度无误差地处理奇异性问题。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，实现了一个需要通过手腕奇异点进行运动的特定钉孔插入任务.开发了一种高性能的紧凑型6自由度触觉接口。它可以同时表现出广阔的工作空间和快速运动能力。最后，通过德国DLR与日本东北大学之间的远程操作实验，验证了该系统的有效性。