抄録
This paper presents on-going development of a free flying space telerobot for ground experiments. A developed model is now operable in free flying and manipulating on a 2-dimensional flat test bed with air bearing system. As designing the telerobot, we chose a reference task. We simulated some decomposed sub tasks extracted from the reference task, and employed confirmed methods. The computer simulation and the experimental results are also presented. Navigation, guidance and control system works well in path planning and position control with using an external sensor. A proposed method for the cooperative control between the robot body's attitude control and the manipulator position control shows sufficient performances. The manipulator force control methods such as the impedance control and the active limp are very effective while capturing and handling a floating object in micro gravity field.
