Research on Task-Oriented Control for Autonomous Micro Object Handling System

自主微型物体处理系统面向任务的控制研究

基本信息

批准号：
04452154
负责人：
HATAMURA Yotaro
金额：
$ 4.35万
依托单位：
the University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1992
资助国家：
日本
起止时间：
1992 至 1993
项目状态：
已结题

项目摘要

The purpose of the research lies in the realization of the task-oriented control which ensures reliable autonomous task execution without breaking very small object such as micromachine under high resolutional optical microscope. The results can be summarized as follows :1. Realization of concentrated motion manipulator : taking account of micro object handling tasks, we make clear the necessary functions of a manipulation system to execute micro object handling. A new design concept of "concentrated motion manipulator" suitable for small object handling is proposed and a new manipulation system based on the concept is designed and realized. The manipulator has 7 D.O.F.'s with mano-meter order positional accuracy. The main feature of the manipulation system is that motion of the manipulator is concentrated to the center of the field of view of a microscope to ensure task execution with visual monitoring.2. Realization of task-oriented control : In micro task execution, a robot frequently breaks the object, because the object is much weaker than the object in our macro world. To cope with this problem, we realized the task-oriented control. The control method is the repetition of the following two steps : a)the robot predicts very near future task situation by utilizing geometric model of the working environment and the robot plans its sensor usage to ensure reliable recognition of task status, b)the robot plans a behavior to recover from error status to normal status utilizing the same prediction procedures of a)and execute the planned behavior. By repeating the stated procedures rapidly, the robot reliably pursuit the task.3. Assembly experiment of micromachine : By integrating the hardware and software stated above, Such micro task execution of assembly of micro machines as well as the repair of micro patterns are successfully performed to prove the effectiveness of the task-oriented control method.

该研究的目的在于实现面向任务的控制，该控制可确保可靠的自主任务执行，而不会破坏很小的对象，例如高分辨率光学显微镜下的Micromachine。结果可以总结如下：1。集中运动操纵器的实现：考虑到微对象处理任务，我们明确了操纵系统的必要功能，以执行微对象处理。提出了一个适合小物体处理的“集中运动操纵器”的新设计概念，并设计和实现了基于该概念的新操作系统。该操纵器具有7 d.o.f.，具有Mano-Meter订单的位置准确性。操纵系统的主要特征是操纵器的运动集中在显微镜视野中心，以确保通过Visual Monumoring.2。实现面向任务的控制：在微观任务执行中，机器人经常打破对象，因为对象比我们的宏世界中的对象弱得多。为了解决这个问题，我们意识到了面向任务的控制。控制方法是重复以下两个步骤：a）机器人通过利用工作环境的几何模型来预测非常近来的任务情况，机器人计划其传感器使用情况，以确保对任务状态的可靠识别，b）机器人计划采取行为，采取行为从错误状态恢复到正常状态，利用a）和执行计划的行为进行正常状态，并执行计划的行为。通过迅速重复陈述的程序，机器人可靠地追求任务3。 MicroMachine的组装实验：通过整合上述硬件和软件，成功执行了微型机器组装的微型任务执行以及微型模式的维修，以证明面向任务的控制方法的有效性。