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Title
Japanese:むだ時間要素を含むインピーダンス制御を用いた非協力衛星捕獲の接触力学解析(宇宙ロボティクス・メカトロニクス) 
English: 
Author
Japanese: 中西 洋喜, 児玉 正明, 吉田和哉.  
English: Hiroki Nakanishi, 児玉 正明, Kazuya Yoshida.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会講演概要集 
English: 
Volume, Number, Page Vol. 2008       
Published date May 2008 
Publisher
Japanese:一般社団法人日本機械学会 
English: 
Conference name
Japanese:ロボティクス・メカトロニクス講演会2008 
English: 
Conference site
Japanese: 
English: 
Abstract One of the most important phases of satellite servicing operarions by a space robot is the "contact" phase. During the contact between the end-effector and grasping point, there is a risk that the target and the robot can be pushed away from each other by the contact force. Therefore, the method to control the end-effector by the impedance control so as not to deflect the target was suggested. However, all of real control systems have the control time delay. In case of the target capture operation, the time delay of the impedance control makes the impulse of the contact larger. In this paper, to velify the effect; of the time delay of the impedance control, experiments with a air-floating testbed and numerical simulations are carried out.

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