Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 08, 2024 - September 11, 2024
Torque-unit Manipulator (TUM) is a novel type of space manipulator that does not incorporate motors within its joints. Instead, it attaches torque-units, which combine discs and motors, to each link. TUM can control the links using conventional manipulator control laws, but there is an issue of residual angular velocity in the discs after control. Previous studies have proposed methods to reduce this residual angular velocity to zero. In this research, we focus on the 2-DOF TUM, aiming to find link motion trajectories that bring the link to the target angle while simultaneously reducing the residual angular velocity of the disc to zero through simulation. Our method generates the motion trajectories of the links by adjusting the value of a single free parameter included in a sixth-degree time polynomial, given the target angle and the initial angle. And minimize the Euclidean norm of the residual angular velocities of the two discs.
