Soft landing of capsule by casting manipulator system

This paper presents a high-speed transportation of capsule by launch. One of the main issues for the transportation is how to decelerate the capsule during its flight to avoid a large landing impact. In order to stop the capsule temporally in the air just before its landing, we propose a flight control method by multidirectional tension of wires. Since the capsule is connected with both auxiliary weights and reel system via wires, it can be geometrically constrained not to move by multiple pull of the wires. We develop the motion planner which makes the capsule reach the target at the desired speed, and control algorithm for it. The proposed method is applied to the soft landing of the capsule. The effectiveness of the proposed method is verified through the experiment.