抄録
It has been expected to clarify the mechanism of free flying sports such as aerial ski, diving contest and so on. The attitude motion in those sports is constrained by the conservation of angular momentum, and the aerial players are, thus, a kind of nonholonomic, under-actuated mechanical systems with initial angular momentum, in which the number of the generalized coordinates is more than the number of control inputs. Because their dynamics is complicated, it is difficult to control them and grasp their motion intuitively. In addition, because zero gravity environments are hardly realized on the ground, it is difficult to carry out experiments with the actual machine for a long time. This paper addresses numerical simulations and experimental set up for attitude control by a feedback control strategy for 3-D free-flying robots with non-zero angular momentum, in which the attitude of the main body of the robot and configuration of the robot can approach the desired states. Contrary to past studies that considered only the final attitude, in this study, we consider situations to make the configuration of the robot transit some intermediate states to emulate performance in aerial sports.
