双腕ロボットを用いた軌道上サービスのための地上実験システムの試作

概要

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A robot satellite with dual-manipulator is one of the choices for on-orbit servicing such as capturing damaged satellites in orbit. We have constructed a ground experiment simulator system including two 7-degree-of-freedom (DOF) manipulators as a chaser satellite model and floating testbeds as target satellite models. This system is a tele-operation ground experiment system and consists of the following subsystems: robot system, vision system, manipulator operating system, ground control system and damage satellite model system. Using this system, we will study on feasible capturing and berthing methods of damaged satellites using dual-manipulator. In this paper, we explain the detailed description of the system and reported the results of the basic satellite capturing experiments.
社団法人日本機械学会の論文
2001-09-25