質量中心不変構造を持つ宇宙ロボット

抄録

We propose a free-flying space robot of which center-of-mass is fixed on the base body and invariant to change of the configuration. The space robot with the center-of-mass invariance has the following characteristics: (1) it is easy to simplify an experimental system on the earth, (2) a cost of computing the Generalized Jacobian is reduced, (3) motion in a two-dimensional plane is holonomic. We developed a prototype of such a space robot, and compare the results of an experiment with it and of a numerical simulation.