2A2-L08 宇宙ステーション搭載アームによるターゲット捕獲時の接触力学解析(宇宙ロボット・メカトロニクス)

概要

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In order to make space missions succeed surely and safely, it is necessary to assume various cases and take measures at the stage of development or designing an operation! plan. For this purpose, computer simulations play a key role in the development and operation of space systems because of the difficulty in performing ground-based hardware testing. In a dynamics simulation for space missions, the most difficult thing to model, and can easily cause sonic simulation errors is the contact force. In this paper, a novel strategy of identifying contact dynamics parameters by a hybrid simulator is described. The evaluation of the time delay which exists in the hybrid simulator is also described. The parameter identification with a hybrid simulator is substantially enabled by this evaluation.
一般社団法人日本機械学会の論文
2007-05-11