3306 大型柔軟構造物操作のための双腕ロボットの制御

概要

論文の詳細を見る
It is expected that autonomous space robots conduct many on-orbit servicings, for example the construction and maintenance of large space structures as well as the capture and recovery of damaged satellites. In order to realize these missions, robot manipulators mounted on a satellite can be useful. During the capturing operation of a floating target, it may be difficult for a manipulator to grapple it directly because of target nutation or tumbling. In order to damp the angular momentum of target, the method using a cushion type damper has been proposed. After grappling the target, it is necessary to handle the payload suppressing the vibration. We will analyze the handling operation of the flexible payload by dual manipulator. In this paper, we report the results of the ground experiment and the numerical simulation, and discuss the validity and feasibility of this operation.
社団法人日本機械学会の論文
2002-09-20