2007 Fiscal Year Final Research Report Summary
Acquisition of Next Generation Dual-arm Teleoperation Technology through Hybrid Simulation
| Project/Area Number |
16206024
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku University |
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Principal Investigator |
UCHIYAMA Masaru Tohoku University, Graduate School of Engineering, Professor (30125504)
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| Co-Investigator(Kenkyū-buntansha) |
KONNO Atsushi Graduate School of Engineering, 大学院・工学研究科, Associate Professor (90250688)
SATO Daisuke School of Engineering, Musashi Institute of Technology, Lecturer (40344692)
JIAN Xin Graduate School of Engineering, 大学院・工学研究科, Assistant Professor (30451537)
ABE Koyu Graduate School of Engineering, 大学院・工学研究科, Research Associate (80261600)
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| Project Period (FY) |
2004 – 2007
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| Keywords | intelligent robotics / space science / mechanics, control / intelligent machine / microgravity |
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| Research Abstract |
The aim of this research is to develop a next generation dual-arm teleoperation technology through exploiting a hybrid motion simulation technology to simulate micro-gravity environment. It is expected that the aim can be achieved by integrating the hybrid motion simulation technology which has been developed and verified in the head investigator's laboratory into dual-arm robot based teleoperation. Following this idea, a system is designed to be capable of simulating tasks such as robotic assembly of truss structures, and robotic retrieval of satellites, which are undertaken in micro-gravity environment. The main achievements of this research project are summarized as follows.
1. A hybrid motion simulator characterized by a 9DOF motion table is developed and evaluated. This introduction is verified to be helpful to greatly enlarge the region of motion indication.
2. With the developed system, dual-arm robot based assembly involved with time delay is investigated. Some approaches like pa
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rtially automating some of assembly processes, and vision based operation assistance are proposed. With these technologies implemented, assembly of a complex truss structure is achieved by teleoperation even under 5 second time delay.
3. The dynamic consistency of the hybrid motion simulation is analyzed. It contributes to answer whether the indicated motion by the simulator can be trusted as the reproduction of the real physical phenomenon. A system consistency evaluation method is proposed. It takes rebound coefficient as the main evaluation factor. And for the two main consistency related factors, servo error and time delay, compensation approaches are proposed and validated, respectively.
4. The efficiency of developed system is validated by simulating a task of capturing a rotating object by the dual-arm robot, which is expected to imitate the task of practical robotic satellite retrieval. In this research, the simulation system helps to propose a capturing strategy for such a complex task. Less
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