Telerobotic Architecture and Techniques for Precise Space Tasks.
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- MACHIDA Kazuo
- 電子技術総合研究所
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- TODA Yoshitsugu
- 電子技術総合研究所
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- MURASE Yuichi
- (株) 富士通研究所
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- KOMADA Satoru
- (株) 富士通研究所
Bibliographic Information
- Other Title
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- 宇宙精密作業のためのテレロボット構造と技法
- ウチュウ セイミツ サギョウ ノ タメ ノ テレ ロボット コウゾウ ト ギホ
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Abstract
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.
Journal
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- Aeronautical and Space Sciences Japan
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Aeronautical and Space Sciences Japan 45 (520), 295-302, 1997
THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
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Details 詳細情報について
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- CRID
- 1390001204477350400
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- NII Article ID
- 10002861596
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- NII Book ID
- AN00189072
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- ISSN
- 24241369
- 00214663
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- NDL BIB ID
- 4215942
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed