The Journal of Space Technology and Science
Online ISSN : 2186-4772
Print ISSN : 0911-551X
ISSN-L : 0911-551X
Volume 18, Issue 2
Special Issue on Space Robotics Research in Japan
Displaying 1-5 of 5 articles from this issue
Articles
  • Hiroshi UENO, Steven DUBOWSKY, Christopher LEE, Chi ZHU, Yoshiaki OHKA ...
    2002 Volume 18 Issue 2 Pages 2_1-2_8
    Published: 2002
    Released on J-STAGE: August 18, 2013
    JOURNAL FREE ACCESS
    The capture and recovery of an expensive satellite that has lost its attitude control function can be an important class of future missions for space robots. Moreover, there are tens of thousands of pieces of debris in orbit from previous missions. These orbiting debris such as the uncontrolled pieces of booster stages and obsolete satellites are a serious hazard to future orbiting spacecrafts. Thus, the use of robotic systems to capture and de-orbit uncontrolled materials from earth orbit has the potential to be another important future class of missions for space robots which should be technically similar to satellite capture. This paper describes on-orbit service system that utilizes multiple space robots for capturing and recovering valuable satellite system and for removing and changing the orbit to avoid collision from space debris.
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  • Kazuya KONOUE, Naoki MIYASHITA, Keisuke YOSHIHARA, Saburo MATUNAGA
    2002 Volume 18 Issue 2 Pages 2_9-2_16
    Published: 2002
    Released on J-STAGE: August 18, 2013
    JOURNAL FREE ACCESS
    We conducted ground experiments simulated on-orbit servicing, for example, construction and maintenance of large space structures as well as capture and recovery of damaged satellites using autonomous space robots; it is necessary to research on floating massive payload tele-operation through both analytical and experimental approaches. This ground experiment system developed in the paper is useful to study strategies and approaches to capture damaged satellites and operation of floating massive payload in space. We explain in detail the experimental results of operation such as capturing the damaged satellite and operating the floating massive payload. In addition, we experimentally investigate usefulness of contact/push-based control for a rotational target. Next, we introduce a random time lag in communication on the ground experimental system. Then, we discuss the strategy of the tele-operation including the random time lag in communication.
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  • Shoji YOSHIKAWA, Katsuhiko YAMADA
    2002 Volume 18 Issue 2 Pages 2_17-2_24
    Published: 2002
    Released on J-STAGE: August 18, 2013
    JOURNAL FREE ACCESS
    We discuss an angular momentum control of a tumbling spacecraft. The proposed control method is to apply an impulse by a space robot arm, to measure and control the relative position and attitude between the target spacecraft, and then to apply another impulse until the rotational motion of the target spacecraft is well damped. A discrete controller is designed using the simplified equations of rotational motion through appropriate coordinate transformation. The stationary response of the closed system is investigated. Numerical simulations are given to show that the angular momentum is efficiently damped.
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  • Satomi KAWAMOTO, Saki KITAGAWA, Kohtaro MATSUMOTO
    2002 Volume 18 Issue 2 Pages 2_25-2_31
    Published: 2002
    Released on J-STAGE: August 18, 2013
    JOURNAL FREE ACCESS
    A method for reducing the angular momentum of a non-cooperative, free-flying object in orbit by the application of repeated, well-timed impulses is studied. Using numerical simulations it has been shown that nutation or tumbling can be converted into simple spin or stopped altogether by this technique, which is robust against errors in the applied force. Owing to uncertainties in the projectile-target collision-force profile, ground experiments have been conducted using a passive model satellite placed on an air table. A mechanism for providing impulses to a target is described in this paper.
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  • Kazuya YOSHIDA, Satoko ABIKO
    2002 Volume 18 Issue 2 Pages 2_32-2_40
    Published: 2002
    Released on J-STAGE: August 18, 2013
    JOURNAL FREE ACCESS
    This paper discusses new approaches for advanced manipulation of JEMRMS to improve its motion performance in terms of minimum oscillation of the vibrations in the Main Arm, which provides a base of the Small Fine Arm. The amplitudes of the vibrations in JEMRMS are evaluated by numerical simulations. It turns out that the vibrations significantly degrade the control accuracy and operational performance even in the nominal operations. The Main Arm's vibrations occur due to the joint flexibility and backlash, excited by the reaction of the Small Fine Arm. Different operational modes for advanced manipulation are proposed to achieve reactionless manipulation that yields zero or reduced vibrations on the Main Arm. The proposal includes the coordination of the Main and Small Fine arms and an introduction of a hyper DOF arm. The performance of each mode is compared by numerical simulations.
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