J-GLOBAL ID:200904012996471532  Research Project code:0250002722 Update date:Feb. 12, 2003

Study on satellite capture by two-armed flexible manipulator

Study period:2000 - 2000
Research overview:
Two-armed manipulator attracts expectation for practical application as a manipulator for service robots on orbit. We are carrying out experiments to capture a satellite by a flexible and lightweight two-armed manipulator. Experimental system constructed in laboratory has already realized fundamental control necessary for the experiments including vibration control, power control, and cooperation control. In fiscal 2000 we studied the motion to capture a spinning satellite with two arms. The manipulator in each arm shifts to power control to hold the satellite following contacting its tip to the satellite. We proposed an effective controlling means for shifting to power control taking flexibility of the arm into consideration, and experimentally verified its effectiveness.
Research program: Ordinary Research
Ministry with control over the research :
Ministry of Education, Culture, Sports, Science and Technology

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