Simulation system for a space robot using six-axis servos

Haruhiko Shimoji, Masao Inoue, Kazuo Tsuchiya, Keiken Niomiya, Ichiro Nakatani, Jun’Ichiro Kawaguchi

研究成果: Article査読

20 被引用数 (Scopus)

抄録

As space robots are used in a zero gravity environment, there are some technical problems to be considered, such as a control scheme for the manipulator which considers the reaction movement caused by the manipulator motion, a recognition scheme for 6 DOF (degrees of freedom) motion of the target, and so on. To solve these problems, we have constructed a ground simulation system combining numerical simulation and servo mechanisms. In this system, the dynamics of the space robot and the target are solved based on the momentum conservation law, and the relative motion between them is simulated. Using this simulation system, we can efficiently develop space robots. In this paper, we describe the configuration of this system, the simulation algorithm, and the result of evaluation tests.

本文言語English
ページ(範囲)176-179
ページ数4
ジャーナルAdvanced Robotics
6
2
DOI
出版ステータスPublished - 1991 1 1
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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