3320 周期的運動に追従する三次元可変形状トラスの収束特性(S85-2 宇宙ロボットと制御技術(2),S85 宇宙ロボットと制御技術)  [in Japanese] 3320 Convergence Property of Three-Dimensional Variable Geometry Truss Tracking Periodic Motion  [in Japanese]

This paper discusses on the control law for variable geometry truss (VGT) as space manipulator required to capture space debris. The end of truss is constrained to move periodically. The motion is simulated to synchronize trajectory of malfunctioned satellite, which is usually spinning or tumbling. Control law is also required to reduce energy consumption because of limited resources in space. The control law is derived from the locally optimal condition of minimum energy problem with periodic constraints. The simulation results show that circular motion of the end-effecter has faster convergence property than linear motion.