関節力覚制御マニピュレータを用いた宇宙デブリ捕獲システム

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  • System for Space Debris Capture Using Joint Impedance Controlled Manipulator

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<p>The number of launching satellites is increasing year after year. Along with this, increasing of space-debris (hereinafter, referred to as “debris”) and the risk of collision between debris and operational satellite is regarded as a problem. In order to realize a continuous development of space, effective measures are urgent to mitigate of debris. Examples of the capturing method of debris include, the linearly extensible mechanism, net, precision rigid manipulator and simple manipulator. In this study, we assumed that capturing debris with manipulator. The manipulator has flexible joints and a control method to capture the target. In this paper, results of designing the joint mechanism of the manipulator. The joint mechanism has a twist elastic mechanism. The effect of this mechanism inside the joint is buffering the torque applied from outside in higher frequency. Thus, capable of buffering passively even with the addition of a rapid external force (that cannot respond by impedance control of a joint by this at the time of capture of the object debris that performs relative motion at a low speed). In this study, the lightweight manipulator was prototyped and tested.</p>

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