J192012 キャスティング作業システムによるペネトレータの投擲([J19201]ロボティクスと宇宙(1))

概要

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Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a control method to launch a penetrator to the desired position. First, we focus on a method by using rotation of a boom, and then introduce the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator and control error of the boom, we propose the motion control of the boom to reduce the error. Finally, we verify the effectiveness of the proposed method through experiments.
一般社団法人日本機械学会の論文
2011-09-11