双腕宇宙ロボットによる回転体把持作業のハイブリッドシミュレーション

DOI Web Site 参考文献13件

書誌事項

タイトル別名
  • Hybrid Simulation of a Capturing a Rotating Object Task by a Dual-Arm Space Robot
  • ソウワン ウチュウ ロボット ニ ヨル カイテンタイ ハジ サギョウ ノ ハイブリッド シミュレーション

この論文をさがす

抄録

This paper presents hybrid (hardware in the loop) simulation of orbital operations by a space robot, and discusses a way to capture a spinning satellite using a dual-arm space robot. The orbital operations by a space robot, such as capturing a target object, involve collision between the hands and the object. It is difficult to numerically simulate complicated phenomena at the collision in general. The hybrid simulation is known as a useful method to verify the orbital operations having such complicated phenomena. The hybrid simulation is basically software simulation, replacing its part of numerical model by a hardware model, which contains complicated structure and motion. Firstly, a system architecture of the hybrid simulator is presented and a strategy for capturing a rotating object by a dual-arm space robot is discussed. Secondly, hybrid simulation of capturing a rotating object by a dual-arm space robot is performed to evaluate the proposed strategy. Finally, an experimental result of the hybrid simulation is presented, and effectiveness of the proposed strategy is verified.

収録刊行物

参考文献 (13)*注記

もっと見る

関連プロジェクト

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ