複数移動体ロボットによる宇宙構造物の操り : 第2報,操りの基礎実験

抄録

The previous studies on space robots have assumed a relatively small object as a manipulated target. But in space, a target object can be huge, for example, a space station or solar power satellite. In these cases, manipulation by several vehicles which have the thrust engines is superior to that by arms mounted on the spacecraft. The thrust engines fixed on a vehicle and a 3 DOF Control Moment Gyro are necessary for controlling the direction of the contacting force. In this paper, we discuss on experimental system using multiple vehicle-type robots to simulate huge object manipulation in space. We also discuss experiments to verify the validity of the optimal contacting points selection method proposed in the 1st paper.