書誌事項
- タイトル別名
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- 1A2-C05 Experiment on Capturing of a Floating Object by a Teleoperated Dual-Arm Space Robot
抄録
One of the expected tasks by space robots is capturing a malfunctioning satellite. There are several works of capturing satellite, however, a few attempts has been carried out to capture an attitude-uncontrolled-satellite without the extra vehicle activity (EVA) by astronaut. This paper presents experiments of capturing a floating object under microgravity conditions by a teleoperated dual-arm space robot. Two teleoperation experiments are studied in this paper: (1) capturing a stationary floating object with time delay, (2) capturing a rotating object without time delay. The dual-arm space robot successfully captures the stationary and rotating objects with the use of the teleoperation system using mixed force and motion commands and the non-master/slave coordinated control of the dual-arm.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _1A2-C05_1-_1A2-C05_4, 2010
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205935319680
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- NII論文ID
- 110008741331
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可