<title>Module-type space manipulator</title>

Abstract

The Communications Research Laboratory has been studying the inspection technology needed for the first step of 'Orbital Maintenance System' (OMS) that maintains space system by inspecting of satellites, re-orbiting useless satellites, and simply repairing satellites in orbit. In this paper, we introduce a re-configurable modular-type manipulator for space utilization, and its control algorithm for the inspection of satellites in orbit. The manipulator system is interconnected by a joint mechanism which can be connected and disconnected by simple robotic motion and also resist inertia during space operation. The modules are also specially designed for thermal, vacuum, and radiation conditions. The control processors are qualified in a piggyback flight on 2000. We have adopted a decentralized control algorithm for the redundant manipulator, which automatically adapts to the manipulator reconfigurations.