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

この論文にアクセスする

この論文をさがす

著者

抄録

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.

収録刊行物

  • 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 

    一般社団法人 日本航空宇宙学会

参考文献:  12件

参考文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

各種コード

  • NII論文ID(NAID)
    10002861596
  • NII書誌ID(NCID)
    AN00189072
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    00214663
  • NDL 記事登録ID
    4215942
  • NDL 雑誌分類
    ZN25(科学技術--運輸工学--航空機・ロケット)
  • NDL 請求記号
    Z16-436
  • データ提供元
    CJP書誌  NDL  J-STAGE 
ページトップへ