並列タイトル等時間遅延を持つ遠隔操作:宇宙ロボット工学の調査とその使用
タイトル（掲載誌）航空宇宙技術研究所報告 = Technical Report of National Aerospace Laboratory
一般注記通信リンクの時間遅れは遠隔操作システムにおける最も重要な課題である。地球低軌道上の宇宙遠隔操作システムではこの通信遅れが約7秒にものぼることは良く知られている。この通信遅れ遠隔操作問題に対してここ数年多くの提案がなされているが、これまでの提案を技術的に比較検討した報告はなされていない。このため,本論文では通信遅れ遠隔操作に関する数多くの提案を調査し、比較検討することにより本分野での今後の研究の枠組み、動向を提案する。本論文が本分野研究者の同問題への理解を深め、今後の通信遅れ遠隔操作システムにおいて連続的で滑らかな遠隔操作実現に何が課題なのかを提示したい。
The existence of time delay in the communication link is one of the most important problems regarding the stability of teleoperation systems. Space robot systems and on-orbit telerobotics technology will play an essential role in the construction and maintenance of large scale structures, such as the International Space Station (ISS), but it is well known that in Earth orbit space applications the total cycle time is usually of 7 s. Many proposals have appeared in the literature through the years on how to conduct time delayed teleoperation, but to date no comprehensive comparison study between them has been carried out. In this context, it was decided to conduct a survey of all proposals for time-delayed teleoperation present so far in the literature and compare them on the same grounds. This will give researchers in this field a better understanding of the problem and will help them have a clear view as to in what areas more research is needed to achieve continuous and smooth teleoperation in the presence of time delay. This study focused on the continuous teleoperation of robotic arms on orbit around the Earth. This will be the area of space robotics applications with the greater demand in the following years. Special emphasis has been put throughout the study on the specific operational characteristics of this type of systems. Finally, a framework for future research in the field have been proposed. The framework is based on the definition of a nomenclature and a data flow diagram in which to express in a concise and compact way different algorithms. The utility of this framework is demonstrated both with a general example and with its application to different proposals present in the literature.
資料番号: AA0032999000
レポート番号: NAL TR-1438T
連携機関・データベース国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
提供元機関・データベース宇宙航空研究開発機構 : 宇宙航空研究開発機構リポジトリ