1A2-C05 遠隔双腕宇宙ロボットによる浮遊物体把持作業模擬実験

概要

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One of the expected tasks by space robots is capturing a malfunctioning satellite. There are several works of capturing satellite, however, a few attempts has been carried out to capture an attitude-uncontrolled-satellite without the extra vehicle activity (EVA) by astronaut. This paper presents experiments of capturing a floating object under microgravity conditions by a teleoperated dual-arm space robot. Two teleoperation experiments are studied in this paper: (1) capturing a stationary floating object with time delay, (2) capturing a rotating object without time delay. The dual-arm space robot successfully captures the stationary and rotating objects with the use of the teleoperation system using mixed force and motion commands and the non-master/slave coordinated control of the dual-arm.
一般社団法人日本機械学会の論文