宇宙ロボットのシミュレーション手法とそのマニピュレータ制御への応用

抄録

This paper deals with a simulation method and a control method of a space robot which consists of spacecraft and a manipulator. First we propose a simulation method which can solve the equations of motion of the space robot with the number of computations proportional to the degrees of freedom of the manipulator. The method is derived by the Appell's equation and is applicable to the case where the manipulator hand is constrained with an object or the space robot has plural manipulators. Then we apply the simulation method to the computed-torque control of the manipulator. The relation between the hand acceleration and the joint control torques of the manipulator is directly derived by the simulation method. Using the relation, we compose a simple and efficient method for the computed-torque control. The amount of computations of the simulation method and that of the control method are examined. The result shows that the proposed methods are more efficient than conventional methods.