宇宙ロボットの遠隔操作力制御システム

• 内山 勝

  東北大学工学部

• 金田 悟

  日本電気株式会社

• 北垣 高成

  電子技術総合研究所

書誌事項

タイトル別名

• A Teleoperated Force Control System for Space Robots.

抄録

For the teleoperation of force controlled space robots in orbit by a human operator on the ground, communication time delay becomes a difficult problem. In this paper, to solve this problem, a new teleoperation control scheme is proposed. In this scheme, the robot has two control modes: velocity and force control modes, either of which is selected automatically according to contact conditions between the robot and its environments. The coefficient that converts the force command into the velocity command is decided based on the analysis of the optimal approach velocity. Since the both control modes are implemented by an on-board computer in orbit, no force reflection to the human operator is needed even in the force control mode. Moreover, to aid the operator's 3 D visual perception, it is proposed to use a virtual beam which is generated by a ground computer using a geometrical model. With this aid, operation in the velocity control mode is improved.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 9 (7), 849-856, 1991

  一般社団法人 日本ロボット学会

キーワード

• Space Robot
• Teleoperation
• Force Control
• Autonomous Control
• Computer Aided Vision

詳細情報

• CRID: 1390001204726998272
• NII論文ID: 130000850460
• DOI: 10.7210/jrsj.9.849
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可