Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators

Naohiro Uyama; Håavard Lund; Koki Asakimori; Yuki Ikeda; Daichi Hirano; Hiroki Nakanishi; Kazuya Yoshida

doi:10.1109/SII.2010.5708310

Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators

Naohiro Uyama, Håavard Lund, Koki Asakimori, Yuki Ikeda, Daichi Hirano, Hiroki Nakanishi, Kazuya Yoshida

ENG - Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

On-ground experiment for space robotic system is essential to validate constructed robotic system prior to launch. This paper presents an integrated on-ground experimental environment for orbital robotic system. The experimental environment utilizes an air-floating testbed to realize two-dimensional micro-gravity environment on ground. As manipulation system, the constructed environment adopts a groundbased manipulator and a free-floating robot. In order to verify the emulated micro-gravity environment, two cases are tested: the impulse-momentum relationship between a ground-based manipulator and a free-floating target, and the conservation of momentum in a free-floating robot. Both results conclude the validity of the constructed experimental environment for on-ground micro-gravity emulation.

Original language	English
Title of host publication	2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publication	SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages	108-113
Number of pages	6
DOIs	https://doi.org/10.1109/SII.2010.5708310
Publication status	Published - 2010 Dec 1
Event	3rd International Symposium on System Integration, SII 2010 - Sendai, Japan Duration: 2010 Dec 21 → 2010 Dec 22

Publication series

Name	2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other	3rd International Symposium on System Integration, SII 2010
Country	Japan
City	Sendai
Period	10/12/21 → 10/12/22

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/SII.2010.5708310

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Uyama, N., Lund, H., Asakimori, K., Ikeda, Y., Hirano, D., Nakanishi, H., & Yoshida, K. (2010). Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 108-113). [5708310] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708310

Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators. / Uyama, Naohiro; Lund, Håavard; Asakimori, Koki; Ikeda, Yuki; Hirano, Daichi; Nakanishi, Hiroki; Yoshida, Kazuya.

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 108-113 5708310 (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Uyama, N, Lund, H, Asakimori, K, Ikeda, Y, Hirano, D, Nakanishi, H & Yoshida, K 2010, Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators. in 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings., 5708310, 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, pp. 108-113, 3rd International Symposium on System Integration, SII 2010, Sendai, Japan, 10/12/21. https://doi.org/10.1109/SII.2010.5708310

Uyama N, Lund H, Asakimori K, Ikeda Y, Hirano D, Nakanishi H et al. Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 108-113. 5708310. (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708310

Uyama, Naohiro ; Lund, Håavard ; Asakimori, Koki ; Ikeda, Yuki ; Hirano, Daichi ; Nakanishi, Hiroki ; Yoshida, Kazuya. / Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators. 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. pp. 108-113 (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings).

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AU - Nakanishi, Hiroki

AU - Yoshida, Kazuya

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