3403 レーザレンジファインダを用いた柔軟宇宙構造物のパラメタ同定の地上実験(S87-1 飛翔体のモデリングとシステム同定(1),S87 飛翔体のモデリングとシステム同定)

概要

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Future space missions are expected to use robotic systems to assemble, inspect, and maintain large space structures automatically in orbit. For effective planning and control, robots must know the deformations and motions of the structures with which they interact. We have developed a method for estimating the shape, motion, and dynamic model parameters of a vibrating space structure using asynchronous raster-scanning range imagers. This paper presents evaluation experiments as well as experimental system. The flexible panel emulating the motion of the large space structure are mounted on the friction-free air table. The experiments were conducted using the representative structure and asynchronous raster-scanning range imagers to evaluate the performance of the estimation algorithm.
社団法人日本機械学会の論文
2005-09-18