| Project/Area Number |
05452307
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| Research Category |
Grant-in-Aid for General Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Aerospace engineering
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| Research Institution | Osaka Prefecture University |
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Principal Investigator |
MUROTSU Yoshisada Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineering, Professor, 工学部, 教授 (50081386)
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| Co-Investigator(Kenkyū-buntansha) |
FUKUNAGA Kunio Osaka Prefecture University, College of Engineering, Dept.of Computer and System, 工学部, 教授 (60081296)
OSUKA Koichi Osaka Prefecture University, College of Engineering, Dept.of Mechanical Systems, 工学部, 助教授 (50191937)
SHIBATA Hiroshi Osaka Prefecture University, College of Engineering, Dept.of Computer and System, 工学部, 教授 (80094506)
OKUBO Hiroshi Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineeri, 工学部, 助教授 (40094502)
SENDA Kei Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineeri, 工学部, 助教授 (60206662)
小松 信雄 大阪府立大学, 工学部, 助手 (80215392)
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| Project Period (FY) |
1993 – 1995
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| Project Status |
Completed (Fiscal Year 1995)
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| Budget Amount *help |
¥7,500,000 (Direct Cost: ¥7,500,000)
Fiscal Year 1995: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 1994: ¥1,600,000 (Direct Cost: ¥1,600,000)
Fiscal Year 1993: ¥4,800,000 (Direct Cost: ¥4,800,000)
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| Keywords | Intelligence / Space Robots / Space Truss Structures / Construction / Hardware Experiments / Autonomy / Teaching / Planing |
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| Research Abstract |
Concerning the automatic construction of space truss structures by space robots, the following results have been obtained.
1. Formulation of the space robots and development of a numerical simulation program
2. Autonomy using visual information : (1) Development of a real time position measurement system using a stereo vision (2) Hardware experiment of visual feedback control (3) Corresponding method for stereo vision and snakes for object recognition
3. Control of Space Robot (1) Hardware experiment of position and attitude control of satellite main body (2) Adaptive control for unknown object handled by manipulator
4. Autonomous construction (1) Modeling and control of constrained manipulator by environment
5. Hardware experiment (1) Construction of hardware model of space robot and truss structure -Floating on a planar table -Position/attitude control device and 3-DOF scara type manipulator -Master-slave system (2) Some experimental verification
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