3319 周期拘束を受ける宇宙構造物における拘束半径可変型制御則(S85-2 宇宙ロボットと制御技術(2),S85 宇宙ロボットと制御技術)

概要

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The capturing strategy to capture the debris in the earth orbit is one of major concerns of recent space development. The space debris is hard to capture because of their severe environment and the complex motion due to the malfunction in their stabilization system. This paper discusses about control law to follow the periodic rotating motion of debris. The control law used in this study had problems following the debris with large motion and also there was a problem with the speed of convergence to the stable state. The radius of the periodic motion is changed during the control to improve these problems to make the control law useful. The result shows that the maximum radius of the end-effector has risen higher than 3 times as big and speed of convergence has risen up to 6 times as fast.
社団法人日本機械学会の論文
2005-09-18