Simultaneous Control Experiment of Orientation and Arm Position of Space Robot Using Drop Shaft.
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- IWATA Toshiaki
- 工業技術院電子技術総合研究所
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- MURAKAMI Hiroshi
- 工業技術院電子技術総合研究所
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- KADAMA Kenzo
- 工業技術院電子技術総合研究所
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- NUMAJIRI Fumio
- 工業技術院電子技術総合研究所
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- SUZUKI Toshiyuki
- 工業技術院電子技術総合研究所
Bibliographic Information
- Other Title
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- 落下施設を使った宇宙ロボットの腕・姿勢同時制御実験
- ラッカ シセツ オ ツカッタ ウチュウ ロボット ノ ウデ シセイ ドウジ セ
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Abstract
We demonstrate the motion of a space robot in microgravity with use of the drop shaft at the Japan Microgravity Center (JAMIC). The drop shaft could provide 10-second microgravity. The technique used to stably levitate a robot is the most important element in experiments with robot motions using a drop shaft. Therefore, we developed a holding mechanism with grippers and tested it first. We then propose a sensorbased path planning method to control the orientation and the arm position of a space robot. This method compiles a database of current sensory outputs, motion and next sensory outputs, and searches the path using breadth-first search. This method is an application of a finite state automaton. We proved the above results by experiments using a drop shaft.
Journal
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- Aeronautical and Space Sciences Japan
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Aeronautical and Space Sciences Japan 45 (527), 705-712, 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
- 1390001204477646592
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- NII Article ID
- 10002862254
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- NII Book ID
- AN00189072
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- ISSN
- 24241369
- 00214663
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- NDL BIB ID
- 4353048
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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