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Space robotics research activity with Experimental Free-Floating Robot Satellite (EFFORTS) simulators

  • Section 9 Space Robotics And Flexible Manipulators
  • Conference paper
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Book cover Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

In order to study and validate practical availability of dynamics models and control schemes for future in-orbit space robots, a research group at the Tokyo Institute of Technology has developed the Experimental Free-FlOating RoboT Satellite (EFFORTS-I and II) simulators, which enable us to examine 2-dimensional psuedo-micro gravity motion dynamics by air lift system. The robot models comprising a satellite base body and articulated manipulator arm(s), make horizontal motion without mechanical disturbances or external forces. This paper presents the discussion of the following topics relevant to space robotics frontier: (1) hardware design and development of the EFFORTS simulators, (2) dynamics modeling and basic cotrol concepts for space free-floating manipulators, (3) target chasing and capturing experiments, (4) modeling of impact dynamics at the target capture or collison, and its experimental validation, and finally, (5) practical force control for dexterous manipulation.

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References

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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, O-okayama, 152, Meguro, Tokyo, Japan

    Kazuya Yoshida

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  1. Kazuya Yoshida
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Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Yoshida, K. (1994). Space robotics research activity with Experimental Free-Floating Robot Satellite (EFFORTS) simulators. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027621

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  • DOI: https://doi.org/10.1007/BFb0027621

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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