技術試験衛星VII型の力追従制御による展開トラス操作実験

概要

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Experiment for teleoperation of a truss structure on Engineering test satellite-VII (ETS-VII) is performed as a part of space robotics missions. Truss is effective for a space structure because of its lightness and compactness. Recently, a space robot operated from the ground is expected to construct a space structure. This paper reports the results of space experiment for truss operation tasks by ETS-VII robot arm using force accommodation control. Since the robot arm applies the commanded force and torque against to the object, the force accommodation control has merits in teleoperation with time delay, such that no trajectory information is required, and excessive force and torque cannot be caused. It is especially effective in deployable truss operation.
社団法人日本機械学会の論文
2000-06-25