3C14 Development of a gravity compensation system for the prototype test of spacecraft by using mobile type multi robots(The 12th International Conference on Motion and Vibration Control)

Abstract

In this study, we propose a prototype test system for variable flexible spacecraft by using multi mobile robots. The system is designed for gravity compensation of the prototype model of spacecraft which has deployable membrance structures or flexible structures. The system is composed of multi robots. The robot is controlled by the force control to support the structures as well as the decentralized autonomous control. The validity of the proposed system is verified by hardware experiments.