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

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 IEEE/SICE International Symposium on System Integration
ホスト出版物のサブタイトルSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
ページ108-113
ページ数6
DOI
出版ステータスPublished - 2010 12月 1
イベント3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
継続期間: 2010 12月 212010 12月 22

出版物シリーズ

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

Other

Other3rd International Symposium on System Integration, SII 2010
国/地域Japan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • 制御およびシステム工学

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