無反動制御によるロボットアーム手先カメラを用いた点検作業について

抄録

This work describes an inspection task using a hand-held camera to be performed with a realistic free-flying space manipulator, without imposing reaction moments on the satellite base. To ensure a wide workspace under this condition, special care is taken about the algorithmic singularities encountered. These are shown to be successfully handled via the Singularity-Consistent method. The performance is verified through numerical simulation for a number of manipulator configurations and desired wrist motions. It is confirmed that the inspection task is suitable for a tele-operated space robot system, even in the presence of algorithmic singularities. In addition, it is shown that an inspection task under reactionless motion control has an advantage from the perspective of energy efficiency, when compared to reaction compensation via the reaction wheels.