Work

1A2-L04 Stabilization of Hybrid Motion Simulation of Capturing a Floating Object by a Dual-Arm Space Robot(Space Robotics and Mecahtoronics)

Year: 2011

Type: conference-paper

Abstract: In order to develop space robotic technologies, the feasibility and reliability of space robot systems have to be verified by repetitive operation tests. However it is hard to verify that in orbit because of costs and safety. Hybrid motion simulation is one of the effective ways to simulate under micro-gravity condition on the earth. However, simulating a continuous contact such a capturing a floating object by a hybrid motion simulation, there is a problem that the kinetic energy of a target increases. This paper presents that the energy increase is caused by dead-band processing to force/torque data. Two compensation methods for dead band are proposed. And a single-axis collision experiments is carried out. The presented compensations successfully suppress the energy increase.

Source: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

DOI: 10.1299/jsmermd.2011._1a2-l04_1

Authors: Fumihito SUGAI, Xin JIANG, Satoko ABIKO, Atsushi KONNO, Masaru UCHIYAMA

Institution: Tohoku University

Language: English

Topic: Space Satellite Systems and Control

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

OpenAlex ID: W2683060912

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