A Testbed to Evaluate the Tasks to be Executed by Autonomous Space Robots: An Experiment on Satellite Berthing.
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- Watanabe Ichiro
- Fujitsu Laboratories Ltd.
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- Ejiri Arata
- Fujitsu Laboratories Ltd.
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- Okabayashi Keiju
- Fujitsu Laboratories Ltd.
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- Hashima Masayoshi
- Fujitsu Laboratories Ltd.
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- Nagashima Fumio
- Fujitsu Laboratories Ltd.
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- Ohno Keitaro
- Fujitsu Limited
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- Tatewaki Masayuki
- Fujitsu Laboratories Ltd.
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- Aoki Takashi
- Fujitsu Laboratories Ltd.
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- Maruyama Tsugito
- Fujitsu Laboratories Ltd.
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- Uchiyama Takashi
- Fujitsu Laboratories Ltd.
Bibliographic Information
- Other Title
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- 宇宙ロボット作業評価用テストベットの開発と衛星捕捉模擬実験
- ウチュウ ロボット サギョウ ヒョウカヨウ テストベッド ノ カイハツ ト エ
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Abstract
We developed the Advanced Space Robot Testbed with Redundant Arms (ASTRA) for studying the autonomous control of a space robot. Berthing a satellite that is moving in space is the kind of difficult and dangerous task expected of space robots. This paper describes a robot which berthes a mockup satellite that is moving and rotating in zero gravity. The features of the robot include the capability for an autonomous approach to a moving target satellite on the base of a visual estimation of satellite motion, real-time visual tracking control for tracking satellite handles with two robot arms, and the capability to grasp the satellite handles while exerting minimum mechanical shock because of flexible wrist mechanisms and impedance control. We ran a satellite berthing experiment with ASTRA to check its performance.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 16 (7), 974-984, 1998
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204727204096
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- NII Article ID
- 10002864791
- 10004318377
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
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- NDL BIB ID
- 4583787
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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