特異点適合法を用いた宇宙遠隔操作実験

概要

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This paper describes the implementation of the singularity-consistent (SC) approach, proposed previously, for a space teleoperation system. The SC approach is suitable for Cartesian-space velocity control around and at kinematic singularities. Motions can be generated precisely and without producing any infeasible joint velocity. There are, however, some specific problems to be considered when implementing the method. First, the command direction must be precise, and second, the operator should be able to comprehend the state of the slave arm around the singularity. These two problems are not easy to solve for the operator. Therefore, we propose here a suitable supporting system based on virtual reality and shared control. Experimental results show that a real peg-in-hole task including through singularity motion, can be realized by means of a hand controller, even if there is time delay.
1999-08-25