抄録
For the study of near-future robotic manipulations on satellites, we developed a 2-dimensional micro gravity experimental system dynamics of robotic manipulator mounted on a satellite. The robotic manipulator which is connected to the DISC (Dynamics and Intelligent control Simulator for satellite Cluster) is floated on the flat floor (glass plate, 3m by 5m) by air-bearings. We use a 3-DOF manipulator which is a RBR (Reconfigurable Brachiating space Robot) unit arm developed for EVA supports. We conducted the fundamental experiment for flexible beam carrying by a 3-DOF manipulator mounted on DISC which is assumed for the missions of on-orbit carrying service using the small satellite, and showed a vibration suppression of the beam applying input shaping theorem to RBR velocity profile.
