有人宇宙船内におけるソフトバッグ操作の自動化に関する検討

―微小重力・通信遅延下における物資輸送用バッグの操作―

抄録

Efficient usage of crew-time is essential for sustainable human spaceflight activities. Throughout current ISS operations, crew (astronaut) are required to devote their precious time to stow and arrange various goods supplied to the station. In most cases, such cargo is transported and stowed in the flexible bag called Cargo Transfer Bag (CTB) and requires fixation to withstand launch vibration or to be attached during storage, not to float away, in micro-gravitation environment. As cargo-handling tasks are mostly repetitive and standardized, it is prospected to be automated for more efficient future space utilization. However, there are technological challenges in manipulating current CTB IF by robotic manipulator, especially when communication delay is expected. In this paper, preliminary ground testing results of current cargo IF manipulation by dual-arm robot remote control system is presented to outline the challenges in manipulation of CTBs.