Study on Intelligent Control of Space Remote Manipulator based on Human Skill

本研究的目的是设计一种利用主从式机械手进行作业定位的作业辅助控制方法。我们处理的是在从臂上具有弹性的主从机械手，例如空间遥控机械手。当操作员使用这种主从式机械手执行定位任务时，由于从动臂的弹性振动，使得远程操作变得非常困难。为了减轻操作者的负荷，辅助操作，设计了一种新的辅助控制方法，并利用该评价方法对辅助效果进行了评价。本研究的结论如下：1.提出了一种新的辅助控制方法，具有以下功能：(A)通过从动臂的自主运动来辅助抑制从动臂的振动，(B)通过力反馈给操作员以抑制振动的激励，(C)基于人的意图来切换辅助控制(A)。我们通过应变信号反馈或加速度信号反馈来实现(A)和(B)功能，从操纵性和操作者感觉的角度提出了一种辅助效果的评价方法。3.利用所提出的评价方法验证了所提出的辅助控制方法的有效性。(1)将所提出的应变信号反馈或加速度信号反馈的辅助方法应用于单自由度系统，获得了良好的操纵性和操作者的感觉。(2)将所提出的具有加速度信号反馈的辅助方法应用于四自由度系统，获得了良好的操纵性和操作者的感觉。

The purpose of this research is to design a new operation assist control method for positioning tasks by using a master-slave manipulator. We cope with a master-slave manipulator having the elasticity on the slave arm, for example space remote manipulator. When the operator performs positioning task with such master-slave manipulator, the remote operation becomes too difficult owing to the elastic vibration of the slave arm. In order to reduce the operator's load and to assist the operation, we design a new assist control method and evaluate assist effect by using the proposed evaluation method. The conclusions of this research are as fellows.1.We propose a new assist control method having the following functions.(a)Assist by autonomous motion of slave arm to suppress slave arm vibration,(b)Assist by force feedback to an operator to suppress excitation of vibration,(c)Switching control of the assist (a)based on human intension.We realize the functions (a)and (b)by using strain signal feedback or acceleration signal feedback, and realize the function (c)by detecting operating speed of master manipulator.2.We propose an evaluation method of assist effect form the viewpoints of maneuverability and operator's feeling.3.We demonstrate the effectiveness of the proposed assist control method by using the proposed evaluation method.(1)By applying the proposed assist method with strain signal feedback or acceleration signal feedback to the one degree-of-freedom system, good maneuverability and good operator's feeling are accomplished.(2)By applying the proposed assist method with acceleration signal feedback to the four degrees-of-freedom system, good maneuverability and good operator's feeling are accomplished.