微小重力環境下における接触制御のための運動推定システムの構築

抄録

Recently, according to the progress of space development, space debris such as used satellites or parts of rockets are rapidly increasing in orbit. Therefore, system to maintain the satellite orbit condition is important for safe and sustainable space utilization. Orbital Maintenance System (OMS) is a concept of satellite system to maintain orbit condition by serving inspection, repair, and removal of failed satellites. Because OMS is expected to control non-cooperative space debris, analysis and control of contact dynamics with non-cooperative target are one of the key technologies to realize OMS. Especially, it is essentially important to establish technologies to capture rotating objects under microgravity condition because many space debris are generally tumbling in orbit. This paper proposes an estimation method of rotational motion using depth image sensor. Effectiveness of the method is qualified using a floating and rotating robot in two-dimensional micro-gravity condition.