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2000 Fiscal Year Final Research Report Summary

Study on Ultra High-Speed Micro-Gravity Simulator Based Space Telerobotics

Research Project

Project/Area Number 10450093
Research Category

Grant-in-Aid for Scientific Research (B).

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTohoku University

Principal Investigator

UCHIYAMA Masaru  Tohoku University, Graduate School of Engineering, Professor, 大学院・工学研究科, 教授 (30125504)

Co-Investigator(Kenkyū-buntansha) YOON Woo-keun  Tohoku University, Graduate School of Engineering, Research Associate, 大学院・工学研究科, 助手 (40312615)
TSUMAKI Yuichi  Tohoku University, Graduate School of Engineering, Research Associate, 大学院・工学研究科, 助手 (50270814)
KONNO Atsushi  Tohoku University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助教授 (90250688)
ABE Koyu  Tohoku University, School of Engineering, Teaching Staff, 工学部, 教務職員 (80261600)
Project Period (FY) 1998 – 2000
KeywordsMicro-Gravity Simulator / Hybrid Simulator / Ultra High-Speed Mechanism / Parallel Robot / Space Robot / Teleoperation / Telerobotics / Real-Time Control
Research Abstract

In this project, we mainly studied an ultra high-speed micro-gravity hybrid simulator which can simulate complicated motions such as involved in the interactions between an object and a space telerobot under the micro-gravity environment. The developed hybrid simulator is able to realize a relatively precise simulation since it mainly depends on numerical calculations as much as possible. In addition, to achieve a high band-width response, it employs a HEXA-type high-speed parallel link robot in its physical part. The simulation results are displayed with the computer graphics. The salient goals achieved in this project are addressed bellow.
1. A prototype of the hybrid motion simulator has been constructed and the experiments to evaluate its frequency response bandwidth and the basic performance, are conducted.
2. The interaction forces and torques are modeled by the impedance of the simulator system to achieve the precise simulation results.
3. To evaluate the above-proposed modeling, the interactions between the rigid bodies have been simulated. Moreover, to exhibit a multi-point contact motion, the same simulations are also performed with a three-fingered hand.
4. We have also evaluated the simulator's characteristics, analytically, and verified the impact dynamics of the hybrid motion simulation, experimentally, by comparing it with a real collision phenomenon executed in a micro-gravity drop-shaft facility.
5. The teleoperation facility has been added to this developed hybrid simulator. Consequently, an operator can now teleoperate a graphics model of a space manipulator whose motions are to be simulated with the hybrid simulator.

  • Research Products

    (30 results)

All Other

All Publications (30 results)

  • [Publications] 猪平 他: "超高速パラレルロボットの設計・開発・評価"日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集. 1AII2-5 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Akima 他: "Micro-Gravity Simulator Consisting of a High-Speed Parallel Robot"Proc.of 8th Workshop on Astrodynamics and Flight Mechanics. 197-202 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 秋間 他: "HEXA型パラレル機構を用いた微小重力シミュレータの周波数応答実験"第16回日本ロボット学会学術講演会予稿集. 319-320 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 多羅尾 他: "宇宙における物体干渉を模擬するハイブリッドシミュレーション"第16回日本ロボット学会学術講演会予稿集. 1243-1244 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Akima 他: "Hybrid Micro-Gravity Simulator Consisting of a High-Speed Parallel Robot"Proc.1999 IEEE Int.Conf.on Robotics and Autornation. 901-906 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 秋間 他: "HEXA型パラレル機構を用いたハイブリッドモーションシミュレータの開発"日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集. 1A1-06-022 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Tarao 他: "Motion Simulation Using a High-Speed Parallel Link Mechanism"Proceedings of 9th Workshop on Astrodynamics and Flight Mechanics. 271-276 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 猪平 他: "HEXA型パラレル機構を用いたハイブリッド方式による運動模擬実験"第17回日本ロボット学会学術講演会予稿集. 329-330 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 多羅尾 他: "ハイブリッドモーションシミュレーション-CGとの融合による運動呈示機能の拡張-"第17回日本ロボット学会学術講演会予稿集. 331-332 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 多羅尾 他: "高速パラレルリンクロボットを応用したハイブリッドモーションシミュレーション"計測自動制御学会東北支部第185回研究集会資料. 185-4 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 多羅尾 他: "宇宙ロボットのターゲット捕獲作業を想定したハイブリッドモーションシミュレーション"日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集. 2P1-08-001 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 猪平 他: "高速空間サーボ機構を用いたハイブリッドモーションシミュレータの性能評価"日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集. 2P1-08-003 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 多羅尾 他: "高速パラレルリンクロボットを応用したハイブリッドモーションシミュレーション"日本機械学会論文集(C編). 66・648. 2707-2712 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 川辺 他: "ハイブリッドシミュレータによる小惑星探査衛星の接地ダイナミクス実験"第18回日本ロボット学会学術講演会予稿集. 37-38 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Tarao 他: "Motion Simulation Using a High-Speed Parallel Link Mechanism"Proc.IEEE/RSJ Int.Conf.on Intelligent Robots and Systems. 1584-1589 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] E.Inohira, S.Yukawa, T.Akima and M.Uchiyama: "Design, Development and Evaluation of a High-Speed Parallel Robot"Proceedings of the 1998 JSME Conference on Robotics and Mechatronics. 1AII2-5(in Japanese). (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Akima, S.Tarao and M.Uchiyama: "Micro-Gravity Simulator Consisting of a High-Speed Parallel Robot"Proceedings of 8th Workshop on Astrodynamics and Flight Mechanics. 197-202 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Akima, S.Tarao and M.Uchiyama: "Frequency-Response Experiment of a Micro-Gravity simulator Considering of a HEXA-Type Parallel Mechanism"Proceedings of the 16th Annual Conference of the Robotics Society of Japan. (in Japaese). 319-320 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Tarao, T.Akima and M.Uchiyama: "Hybrid Simulation of Motion in Space to Have Interaction with Objects"Proceedings of the 16th Annual Conference of the Robotics Society of Japan. (in Japanese). 1243-1244 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Akima, S.Tarao and M.Uchiyama: "Hybrid Micro-Gravity simulator Consisting of a High-Speed Parallel Robot"Proceedings of the 1999 IEEE Internatinal Conference on Robotics and Automation. 901-906 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Akima, S.Tarao and M.Uchiyama: "Development of a Hybrid Motion Simulator Considering of a HEXA-type Parallel Mechanism"Proceedings of the 1999 JSME Conference on Robotics and Mechatronics. 1A1-06-022(in Japanese). (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Tarao, E.Inohira, T.Akima and M.Uchiyama: "Motion Simulation Using a High-Speed Parallel Link Mechanism"Proceedings of 9th Workship on Astrodynamics and Flight Mechanics. 271-276 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] E.Inohira, S.Tarao and M.Uchiyama: "Experiments on Hybrid Motion Simulation Using a HEXA-type Parallel Mechanism"Proceedings of the 17th Annual Conference of the Robotics Society of Japan. (in Japanese). 329-330 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Tarao, E.Inohira and M.Uchiyama: "Hybrid Motion Simulation-Extension of Motion Display Function Using CG-"Proceedings of the 17th Annual Conference of the Robotics Society of Japan. (in Japanese). 331-332 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Tarao, E.Inohira, M.Uchiyama: "Hybrid Motion Simulation Using High-Speed Parallel Link Robot"Workshop of Tohoku Branch of Society of Instrument and Control Engineers. No.185-4(in Japanese). (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Tarao, E.Inohira and M.Uchiyama: "Hybrid Motion Simulation of a Space Robot's Target Capturing Task"Proceedings of the 2000 JSME Conference on Robotics and Mechatronics. 2P1-08-001(in Japanese). (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] E.Inohira, S.Tarao and M.Uchiyama: "Performance Evaluation of a Hybrid Motion Simulator Equipped with a High-Speed Spatial Servomechanism"Proceedings of the 2000 JSME Conference on Robotics and Mechatronics. 2P1-08-003(in Japanese). (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Tarao, E.Inohira and M.Uchiyama: "Hybrid Motion Simulation Using High-Speed Parallel-Link Robot"Transactions of the Japan Society of Mechanical Engineers. 66(648)(in Japanese). 2707-2712 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H,Kawabe, H.Asahina, Y.Kinoshita, S.Nishimura, S.Tsuda, M.Uchiyama and T.Kubota: "Touchdown Simulation of an Asteroid Probe Using a Hybrid Motion Simulator"Proceedings of the 18th Annual Conference of the Robotics Society of Japan. (in Japanese). 37-38 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Tarao, E.Inohira and M.Uchiyama: "Motion Simulation Using a High-Speed Parallel Link Mechanism"Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. 1584-1589 (2000)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2002-03-26  

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