複数移動体ロボットによる宇宙構造物の操り : 第1報,操りの基礎理論

抄録

Studies on space robots have assumed a relatively small object as a manipulated target. But in space, a target object can be relatively huge, for example, a spacecraft, a space station, or a solar power satellite. In these cases, manipulation by several vehicles which have thrust engines is superior to that by arms mounted on spacecraft. In the manipulation by vehicles, the fuel consumption in a thrust engine is related to the size of force generated by a vehicle. The size of the force depends on the positions of contacting points. Therefore, contacting points of the vehicles are important in view of the fuel consumption. In this paper, we discuss how to find the optimal contacting points. The optimal contacting points are defined as the points which minimize the norm of force needed for the specified acceleration of the target object or maximize DMM (dynamic manipulability margin) according to the characteristic of the task. The results of calculations are shown in this paper. The results of experiments are shown in the 2nd paper.