BS-6-1 Confirmation Procedure of Manipulator Positioning on Japanese Experiment Module of International Space Station(BS-6.Observation, communication and positioning technology of equipments mounted on satellite, aircraft, ship and ground,ENGLISH SESSION)

概要

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Japanese Experiment Module (JEM) of International Space Station (ISS) has a remote manipulator that will be mainly used for handling payloads stored on JEM. The manipulator will grapple and move a payload from the stored position on JEM to a pre-determined position where an active mechanical device installed on JEM can capture a paired passive mechanical device that is attached to the payload. If the position and attitude of the payload's passive mechanical device is within a certain capture envelope, the active mechanical device will capture it safely. But if it's not in the capture envelope, the active mechanical device could be damaged during capture process. The damage includes breaking a latching hand of the active mechanical device. This may produce space debris that could seriously harm ISS's body, and it must be strictly avoided. For this sake, when a crewmember operates positioning of a payload by maneuvering the manipulator, confirmation procedure of the positioning is a must work. In this paper this procedure is proposed. The procedure takes the following perspective into consideration: 1) Guidance accuracy of payload to the final positioning point, 2) Navigation accuracy at the final positioning point, 3) Robustness of position measurement Ground tests are being conducted in order to confirm the proposed procedure.
社団法人電子情報通信学会の論文
2006-03-08