Huge-Object Manipulation in Space by Vehicle-Type Robots

摘要

Previous studies on space robots have assumed a relatively small object as the manipulated target, but in space, a target object can be relatively large, e.g., a space station or a solar-powered satellite. In these cases, manipulation by several vehicle-type robots or vehicles, hereafter, which have thrust engines is superior to that by arms mounted on spacecraft. In manipulation by vehicles, fuel consumption in a thrust engine is related to the norm of force generated by the vehicle. The norm of the force depends on the positions of contact points. Therefore, contact points of the vehicles are important in view of the fuel consumption. In this paper, the optimal contact points are defined as the points which minimize the norm of force needed for the acceleration of the target object or maximize DMM (dynamic manipulability margin) according to the nature of the task. Experiments to verify the validity of this optimal contact points determination method will also be shown.