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.

研究的目的在于实现面向任务的控制，确保可靠的自主任务执行，而不破坏高分辨率光学显微镜下的微机械等非常小的物体。研究结果可概括如下： 1．集中运动机械臂的实现：考虑到微观物体搬运任务，我们明确了执行微观物体搬运的操纵系统所必需的功能。提出了一种适用于小型物体搬运的“集中运动机械臂”的新设计理念，并基于该理念设计并实现了一种新型操纵系统。该机械手有 7 个自由度，具有压力计级的位置精度。该操纵系统的主要特点是机械手的运动集中在显微镜视场的中心，以保证视觉监控任务的执行。 2．面向任务控制的实现：在微任务执行中，机器人经常破坏物体，因为物体比我们宏观世界中的物体弱得多。为了解决这个问题，我们实现了面向任务的控制。控制方法是重复以下两个步骤：a）机器人利用工作环境的几何模型预测近期的任务情况，并规划其传感器的使用以确保任务状态的可靠识别，b）机器人计划利用与a)相同的预测过程从错误状态恢复到正常状态的行为并执行计划的行为。通过快速重复规定的程序，机器人可靠地完成任务。3．微机械组装实验：通过集成上述硬件和软件，成功地进行了微机械组装的微任务执行以及微图案的修复，证明了面向任务的控制方法的有效性。