Attitude Control of Space Robot with Magnetic Fluid Wheel

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  • 1007 磁性流体ホイールを用いた宇宙ロボットの姿勢制御に関する研究

Abstract

This paper deals with a new wheel for controlling an attitude of an artificial satellite. As the controlled system, we handle a space robot with a 2-link manipulator. Although rigid wheels are usually utilized to control an attitude of an artificial satellite, rotating the rigid wheels occurs scattering metal powder and lubricating oil. Therefore, it deteriorates the wheel and shortens the expiration date. So we propose a wheel soaked in magnetic fluid. This wheel doesn't need bearings. So this wheel can solve the problems mentioned above. Moreover, we built an experimental apparatus for the purpose of verifying the merit of the proposed wheel, and we designed control system for controlling an attitude of the space robot.

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