双腕フレキシブルマニピュレータによる浮遊対象物の自動捕獲手法

抄録

The recent developments in the space technology demand various services to the uncooperative satellites. This paper discusses an automated object capturing with a two-arm flexible manipulator. This object capturing procedure is practical, since it includes the cooperative control, the visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator. There have been only a few researches on such a practical application with the flexible manipulators so far. The effectiveness of the proposed task sequence is verified with the experiment.