TY - GEN
T1 - Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators
AU - Uyama, Naohiro
AU - Lund, Håavard
AU - Asakimori, Koki
AU - Ikeda, Yuki
AU - Hirano, Daichi
AU - Nakanishi, Hiroki
AU - Yoshida, Kazuya
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79952805224&partnerID=8YFLogxK
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U2 - 10.1109/SII.2010.5708310
DO - 10.1109/SII.2010.5708310
M3 - Conference contribution
AN - SCOPUS:79952805224
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 108
EP - 113
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -