DocumentCode :
2026653
Title :
Capability evaluation of reconfigurable brachiating space robot
Author :
Hayashi, Ryoich ; Matunaga, Saburao ; Ohkami, Yoshiaki
Author_Institution :
Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Volume :
4
fYear :
2000
fDate :
2000
Firstpage :
2461
Abstract :
We developed the system of a reconfigurable brachiating space robot (RBR). This space robot is designed based upon the modular design, cable reduction and distributed control technique. This robot is capable of moving over the Japanese experimental module of the International Space Station in a brachiating manner and also capable of arm reconfiguration according to the various task requirements. This paper presents the capabilities of the RBR, mainly, the controllability for the distributed control, the capability of grasping handrails and the reconfiguration mechanism. We conduct experiments for evaluation of these capabilities of the RBR, and explain the result of these experiments
Keywords :
aerospace robotics; controllability; distributed control; flexible manipulators; manipulator kinematics; motion control; International Space Station; arm reconfiguration; brachiating space robot; controllability; distributed control; grasping; joint module; kinematics; motion control; reconfigurable robot; Angular velocity; Angular velocity control; Communication system control; Controllability; Distributed control; Low pass filters; Orbital robotics; Space stations; Space technology; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
Type :
conf
DOI :
10.1109/IECON.2000.972383
Filename :
972383
Link To Document :
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