Development of Precise Telerobotic System for Unmanned Spacecraft.
-
- Machida Kazuo
- Electrotechnical Laboratory, MITI
-
- Mikami Tatsuo
- Fujitsu LTD
-
- Akita Kenzo
- Institute for Unmanned Space Experiment Free-Flyer
Bibliographic Information
- Other Title
-
- 衛星搭載用精密作業テレロボットの開発
- エイセイ トウサイヨウ セイミツ サギョウ テレロボット ノ カイハツ
Search this article
Abstract
Space robots performing precise servicing tasks in unmanned facilities will be indispensable in space activity of the 21st century. This paper presents the development of a precise telerobotic system which is the world's first precise extravehicular robot aboard the satellite, ETS-VII. The robot has the features of skill and autonomy for handling various parts in space through a three-finger multisensory hand. Firstly, we discuss the requirements for in-orbit precise servicing by a robot and system constraints to integrate into the satellite, and present the total system design for space telerobotic experiment. Secondly, we describe the design of robot mechatronics adapt to space use. The launch lock mechanisms and reconfiguring method of the robot in orbit are also described. Thirdly, an architecture and design of the onboard control computer system to manage various tasks flexibly and safely are presented. Finally, the multisensory based control for precise task execution and development result of the flight model are presented. The system was launched, and initial checkout reveals the system works well in-orbit.
Journal
-
- Journal of the Robotics Society of Japan
-
Journal of the Robotics Society of Japan 17 (4), 577-586, 1999
The Robotics Society of Japan
- Tweet
Details 詳細情報について
-
- CRID
- 1390001204725558400
-
- NII Article ID
- 10002866324
-
- NII Book ID
- AN00141189
-
- ISSN
- 18847145
- 02891824
-
- NDL BIB ID
- 4728986
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed