Simulation system for a space robot using 6 axis servos.

摘要

As space robots are used in zero gravity environment, there are some technical problems; the control scheme of the manipulator considering the reaction movement caused by the manipulator motion, the recognition scheme of 6 D. O. F. motion of the target, and so on. To solve these problems, we have constructed the ground simulation system combining numerical simulation and servo mechanisms. On this system, dynamics of the space robot and the target is solved based on the momentum conservation law, and the relative motion between them is realized. Using this simulation system, we can develop space robots efficiently. In this paper, we describe about the configulation of this system, simulation algorithm, results of evaluation tests.