再構成歩行型宇宙ロボットにおける分散コントローラの通信アーキテクチュアと演算処理機能の冗長化

抄録

Reconfigurable Brachiating space Robot consists of three 6-DOF arms to support various kinds of external vehicle activities by changing its arm configuration. This kind of robots requires topology-change adaptation in communicational system as well as mechanical composition. Distributed controller system is employed to realize its objectives and this paper discusses its communicational architecture that we have designed. Moreover, fault resilience method in the distributed system with several micro processing units is proposed. It targets realizing high availability on data processing function using process takeover and parallelism by software.