Research on Teleoperation Methods under Time-varying Communication Delays

在本研究中，我们从多个角度进行了一些基础性的研究，以建立一种时变通信延迟下的遥操作方法。我们首先设计并开发了一种主从手，它可以执行一些灵巧的遥操作。提出了将玩具积木装配作为遥操作系统的基准测试方法，并在原有动态可操作性度量的基础上扩展了动态多指可操作性度量，使其能够对多指手进行评价。在此基础上，提出了主从手的设计原则。其次，我们提出了一种即使在通信时延变化的情况下也能稳定的双边控制方法。我们在模拟Internet的计算机网络上进行了一些实验，验证了该方法的有效性。我们有机会用安装在工程测试卫星二号上的机械臂进行了双边遥操作实验。VII(ETS-VII)。即使在6-7秒的时间延迟下，也进行了几次成功的实验。人们一直认为，在如此长的时间延误下，双边控制是没有用的。实验结果表明，即使在没有任何视觉辅助的情况下，动觉反馈也能帮助操作者完成任务。最后，我们开发了一个可以在三维空间中执行任务的主从系统。在此基础上，提出了一种利用活动范围受限的主臂进行遥操作的方法。利用所开发的主从系统，对所提出的方法的可操作性进行了评估。我们还设计了一种可连接到所开发的三维空间任务系统上的主从手，这些研究成果可能为未来开发能够通过互联网执行多项任务的遥操作系统提供重要的基础。

In this research, we have conducted some basic researches in various viewpoints to establish a teleoperation method under time-varying communication delays. We first designed and developed a master-slave hand by which one can perform some dexterous telemanipulations. We also proposed toy block assembling as a benchmark test for teleoperation systems.Then, we proposed dynamic multi-fingered manipulability measure which was extended from the original dynamic manipulability measure so that it can evaluate multi-fingered hands. Based on this measure, we proposed design guidelines for master-slave hands. Next, we proposed a bilateral control method that is stable even under time-varying communication delays. We conducted some experiments in a computer network simulating the Internet and confirmed the effectiveness of the proposed method. We had a chance to conduct a bilateral teleoperation experiment with a robot arm mounted on the Engineering Test Satellite No. VII (ETS-VII). Several experiments were carried out with success even under 6-7 sec time delay. It has been assumed that bilateral control is no use under such long time delays. Experimental results, however, showed that kinesthetic force feedback to the operator was helpful to complete the tasks even without any visual aids.Finally, we developed a master-slave system that can perform tasks in 3-D space. We then proposed a teleoperation method by using a master arm with limited motion range. Using the developed master-slave system, we evaluated the manipulability of the proposed method. We also designed a master-slave hand that can be attached to the developed system for tasks in 3-D space.These research results may be an important basis for developing teleoperation systems that can conduct several tasks via the Internet in the future.