1A2-L04 双腕宇宙ロボットの浮遊物体捕獲ハイブリッドモーションシミュレーションの安定化(宇宙ロボティクス・メカトロニクス)

概要

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In order to develop space robotic technologies, the feasibility and reliability of space robot systems have to be verified by repetitive operation tests. However it is hard to verify that in orbit because of costs and safety. Hybrid motion simulation is one of the effective ways to simulate under micro-gravity condition on the earth. However, simulating a continuous contact such a capturing a floating object by a hybrid motion simulation, there is a problem that the kinetic energy of a target increases. This paper presents that the energy increase is caused by dead-band processing to force/torque data. Two compensation methods for dead band are proposed. And a single-axis collision experiments is carried out. The presented compensations successfully suppress the energy increase.
一般社団法人日本機械学会の論文
2011-05-26