Handling of a Floating Object by Several Space Robots.

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  • 複数台の宇宙ロボットによる浮遊物体の制御
  • フクスウダイ ノ ウチュウ ロボット ニ ヨル フユウ ブッタイ ノ セイギョ

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Abstract

This paper deals with handling of a floating object by several space robots. Operational ability of a space robot depends on its scale, and the scale of a space robot is restricted by the capacity of a rocket, which is used to launch the space robot into space. For this reason, a cooperation of several smaller scale space robots is useful and necessary in space development. In this paper, system which consists of two space robots and a floating object is considered, and two partition methods of its kinematic relation equation is proposed. Moreover, Resolved Motion Rate Control schemes for the system are designed based on the partitioned kinematic relation equations, and computer simulations are carried out to verify the control law.

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