Planar Position Control of Multi-Tethered-Robot on a Loose Net in Microgravity
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- SAISUTJARIT Phongsatorn
- 東京大学大学院工学系研究科航空宇宙工学専攻
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- NAKASUKA Shinichi
- 東京大学大学院工学系研究科航空宇宙工学専攻
Bibliographic Information
- Other Title
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- マルチテザーによる遠心力展開型柔軟構造物上の面内移動制御
- マルチテザー ニ ヨル エンシンリョク テンカイガタ ジュウナン コウゾウ ブツジョウ ノ メン ナイ イドウ セイギョ
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Abstract
This paper describes a concept of Multi-Tethered-Robot (MTR) on spinning Furoshiki-Satellite System (FSS). The concept is expected to be applied for automation of on-orbit construction of FSS. Transition of MTR to any arbitrary target point on the net surface, can be achieved by simultaneously controlling the tethers connected between the robot and the corner-fixed satellites (CFS). Due to the flexibility of the net and unfixed CFSs, many constrains make control of MTR more comlex than those of the end-tip-fixed system. This paper investigates the feasibility of MTR system through numerical simulations using descrete mass model (flexibility model). PID controller is introduced to implement control of the length and tension of tethers under the constrains.
Journal
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- JOURNAL OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
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JOURNAL OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES 60 (6), 213-220, 2012
THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
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Details 詳細情報について
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- CRID
- 1390282679446753792
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- NII Article ID
- 10031168704
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- NII Book ID
- AA11307372
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- ISSN
- 24323691
- 13446460
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- NDL BIB ID
- 024131756
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed