Tele-Existance Display System for Tele-Operation of a Hydraulic Excavator

研究工程机械的远程操作，不仅是为了提高普通建筑和民用作业的效率，而且是为了发展极深的地下作业，甚至是在灾区或危险环境中进行救生和恢复任务。然而，只进行了少量的实验演示，尚未达到进一步的实际应用。这主要是由于人机界面技术还没有足够成熟，因此操作员可以获得良好的远程存在感。在本研究中，我们致力于开发人机界面技术的三个关键要素：(1)产生运动视差的三维远程可视化系统；(2)显示动态加速度的交流电机驱动并联机构；(3)并联机构动态控制的并行计算算法。男人可以通过观察头部运动带来的视觉差异来提高空间识别能力。第一个主题是将运动视差整合到三维可视化系统中。在第二个课题中，我们开发了一个6D0F并联机构，使用6个交流电机（每个1.3 kw，最大惯性负载70 kg，最大加速度2G，工作空间0.5*0.5*0.3 m^3）。我们采用了H.Funahashi教授小组（东京工业大学）先前优化的运动学设计。在第三个课题中，我们开发了一种并行计算算法，用于并行机构的实时动态控制。

The tele-operation of construction machinery has been studied with a hope not only of the improved efficiency of common constructing and civil operations, but also of the developments of very deep underground and even the life-saving and recovering missions at a disastered area or in hazardor enviroments. However, only a few experimental demonstrations have been done and further practical applications have not yet been attained. This is mainlly due to the fact that the humann interface technology has not sufficiently matured such that an oprator can get good sensations of tele-existence.In this research, we worked on the development of the following three key elements of the human interface technology :(1) a 3D tele-visualization system that generates the movement parallax,(2) an AC Motor driven parallel mechanism that displays dynamic acceleration and(3) a parallel computation algorithm for the dynamic control of the parallel mechanism.A man can improve his spatial recognition by seeing the visual difference due to his head movement. The first subject is on the integration of the movement parallax into a three dimentional visualization system. In the scond subject, we developed a 6D0F parallel mechanism using six AC motors (1.3 kw each, Maximum inertia load 70 kg, Maximum acceleratio 2G,Work space 0.5*0.5*0.3 m^3). We adopted the kinematic design that Prof. H.Funahashi's group (Tokyo Institute of Technology) had previously optimized. In the third subject, we developed a parallel Computational algorithm for the real-time dynamic control of the parallel mechanism.