Title :
Ground experiment system for dual-manipulator-based capture of damaged satellites
Author :
Matunaga, Saburo ; Yoshihara, Keisuke ; Takahashi, Takashi ; Tsurumi, Shingo ; Ui, Kyoichi
Author_Institution :
Mech. Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
A robot satellite with dual-manipulators is one of the choices to capture damaged satellites in orbit. We have constructed a ground experiment simulator system including two 7-degree-of-freedom (DOF) manipulators as a chaser satellite model and floating testbeds on a flat floor as target satellite models. This system is a tele-operation ground experiment system and consists of the following subsystems: the robot system, vision system, manipulator operating system, ground control system and damage satellite model system. Using this system, we will study feasible capturing and berthing methods of damaged satellites using dual-manipulators. In the paper we explain the detailed description of the system and report the results of fundamental capture experiments
Keywords :
aerospace robotics; artificial satellites; image processing; manipulator kinematics; position control; telerobotics; 7 DOF manipulators; chaser satellite model; damaged satellites; dual-manipulator-based capture; floating testbeds; ground control system; ground experiment system; manipulator operating system; robot satellite; vision system; Computational modeling; Machine vision; Manipulators; Motion control; Orbital robotics; Robot vision systems; Robotics and automation; Satellites; Space technology; System testing;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895240
