Development of an Active Limp Controlled Space Robot Joint

Abstract

The active limp joint was developed for the purpose of the joint for space robots from which good compliant nature is obtained to pulling in by the attaching mechanism in on-orbit assembly work. The contact work in on-orbit assembly work was analyzed, and joint active limp control was proposed as a force control system which realizes compliant action. Moreover, the small cable lap mechanism of the torque sensor of high stiffness and disturbance torque was developed. The space robot joint mechanism which these are built in was developed, and it verified that forcing for the object by application of fine joint torque sensor and joint compliance control could be performed by characteristic testing. Furthermore, it verified that good compliant action was realizable to pulling-in action by joint active limp control. Thus, the joint mechanism and control system suitable for the next-generation space robot arm which does on-orbit assembly work were developed.