宇宙精密作業のためのテレロボット構造と技法 Telerobotic Architecture and Techniques for Precise Space Tasks
This paper describes an architecture of "precise space telerobotics" and its key technologies for performing high-precision extravehicular tasks in-orbit. First, a dual-loop structure consisting of dexterous task execution and remote environment recognition is proposed for the precise space telerobotic architecture. Secondly a semidexterous end effector providing remote skill is presented. A three-finger hand with a four-DOF compliance mechanism and a fingertip fitting mechanism is devised for remote skill without increasing the load of an onboard computer. Moreover, telesensing techniques using multisensors installed in the hand are described for measuring uncertain remote environments in orbit. The concept of a virtual hypercamera generated using telemetry data from the multisensors is also proposed, and its usefulness to space applications is suggested. Finally, the development of a precise space telerobotic system utilizing the above technologies is presented, and the high-precision capability is demonstrated.
- 日本航空宇宙学会誌 = Journal of the Japan Society for Aeronautical and Space Sciences
日本航空宇宙学会誌 = Journal of the Japan Society for Aeronautical and Space Sciences 45(520), 295-302, 1997-05