C2 ロボットアーム搭載衛星による柔軟物体運搬に関する基礎検討

概要

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For the study of near-future robotic manipulations on satellites, we developed a 2-dimensional micro gravity experimental system dynamics of robotic manipulator mounted on a satellite. The robotic manipulator which is connected to the DISC (Dynamics and Intelligent control Simulator for satellite Cluster) is floated on the flat floor (glass plate, 3m by 5m) by air-bearings. We use a 3-DOF manipulator which is a RBR (Reconfigurable Brachiating space Robot) unit arm developed for EVA supports. We conducted the fundamental experiment for flexible beam carrying by a 3-DOF manipulator mounted on DISC which is assumed for the missions of on-orbit carrying service using the small satellite, and showed a vibration suppression of the beam applying input shaping theorem to RBR velocity profile.
社団法人日本機械学会の論文
2005-12-15