衛星搭載用精密作業テレロボットの開発

• 町田 和雄

  電子技術総合研究所

• 三上 龍男

  富士通株式会社

• 秋田 健三

  無人宇宙実験システム研究開発機構

書誌事項

タイトル別名

• Development of Precise Telerobotic System for Unmanned Spacecraft.
• エイセイ トウサイヨウ セイミツ サギョウ テレロボット ノ カイハツ

抄録

Space robots performing precise servicing tasks in unmanned facilities will be indispensable in space activity of the 21st century. This paper presents the development of a precise telerobotic system which is the world's first precise extravehicular robot aboard the satellite, ETS-VII. The robot has the features of skill and autonomy for handling various parts in space through a three-finger multisensory hand. Firstly, we discuss the requirements for in-orbit precise servicing by a robot and system constraints to integrate into the satellite, and present the total system design for space telerobotic experiment. Secondly, we describe the design of robot mechatronics adapt to space use. The launch lock mechanisms and reconfiguring method of the robot in orbit are also described. Thirdly, an architecture and design of the onboard control computer system to manage various tasks flexibly and safely are presented. Finally, the multisensory based control for precise task execution and development result of the flight model are presented. The system was launched, and initial checkout reveals the system works well in-orbit.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 17 (4), 577-586, 1999

  一般社団法人 日本ロボット学会

キーワード

• Space Robot
• Precise Telerobotics
• Multisensory Hand
• Extravehicular Robot
• Space Experiment

詳細情報

• CRID: 1390001204725558400
• NII論文ID: 10002866324
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.17.577
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4728986
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4728986
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可