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Fundamental Research and Development on Ground Simulators for Space System Dynamics and Control

Research Project

Project/Area Number 07555304
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section展開研究
Research Field Aerospace engineering
Research InstitutionTokyo Institute of Technology

Principal Investigator

OHKAMI Yoshiaki  Tokyo Institute of Technology, Engineering, Professor, 工学部, 教授 (50240750)

Co-Investigator(Kenkyū-buntansha) YOSHIDA Kazuya  Tohoku University, Engineering, Associate Professor, 工学部, 助教授 (00191578)
MATUNAGA Saburo  Tokyo Institute of Technology, Engineering, Research Associate, 工学部, 助手 (00222307)
Project Period (FY) 1995 – 1997
Project Status Completed (Fiscal Year 1997)
Budget Amount *help
¥12,200,000 (Direct Cost: ¥12,200,000)
Fiscal Year 1997: ¥1,900,000 (Direct Cost: ¥1,900,000)
Fiscal Year 1996: ¥4,800,000 (Direct Cost: ¥4,800,000)
Fiscal Year 1995: ¥5,500,000 (Direct Cost: ¥5,500,000)
Keywordsground simulator / space mechanical system / capture / docking / control / impact / キャプチャー / マルチボディ / 衝撃 / 重力補償 / 空気アクチュエータ / 衝撃解析 / 宇宙システム / ダイナミクス / ドッキング・シミュレータ / 衝撃応答
Research Abstract

To aid in the research and development of docking and capture missions by robotic manipulators, ground simulators to test space systems dynamics and control are needed. In this study, two types of hardware simulators were developed. The first is a two-dimensional free-flying simulator system which has the following features : 1) completely wireless, 2) very low fiction air-support, 3) air-thrusters for translational and attitude control, and 4) joy-stick controllability through computer interfase. The second is a six-DOF Stewart-type platform system which has the following features : 1) air-shielded air-cylinder actuators for very low friction, 2) high-speed electro-magnetic valves for high response, and 3) capability to simulate motions due to impact forces. Fundamental trsts of the two simulators were successfully conducted to evaluate the performance, and preliminary experiments for docking and capture were also carried out. On the theoretical side, dynamic analysis of flexible multibody systems under impact, dynamics of multibody systems with configuration changes, and an arbitrary viewpoint reconstruction method for teleoperation human interfaces were investigated. In addition, some work has been carried with the goal of developing an on-ground evaluation method for the motion dynamics of space free-flying systems that involve impact dynamics. For hardware simulations, the simulation accuracy was discussed and evaluated on a hybrid-type simulator using a Stewart platform system. For software simulations, a general and multi-purpose program which can handle any type of open-tree system configuration with flexibility was developed using the MATLAB language. For graphics animations, Xanimate, a free software program, was utilized. Using the developed software simulator, motion dynamics of the manipulator arm and satellite attitude of the Engineering Test Satellite VII(ETS-VII) was studied.

Report

(4 results)
  • 1997 Annual Research Report   Final Research Report Summary
  • 1996 Annual Research Report
  • 1995 Annual Research Report
  • Research Products

    (33 results)

All Other

All Publications (33 results)

  • [Publications] 柳沢 宏 他: "宇宙用ドッキングシミュレータの試作と基礎実験" 第14回シミュレーションテクノロジー・コンフェランス. 109-112 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 林 良一 他: "エアスラスタを用いた水平移動装置の試作" 第12回宇宙構造物シンポジウム. 92-95 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 松永 三郎 他: "衝撃時における柔軟マニピュレータシステムの運動解析" 日本機械学会論文集 C編. (印刷中). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 福島 洋介 他: "テレオペレーション支援のための任意視点再構成" 日本機械学会論文集 C編. (印刷中). (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 吉田 和哉 他: "宇宙ロボットのための研究開発プラットフォーム" 日本ロボット学会誌. 14・1. 18-21 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 吉田 和哉 他: "衝突時に関節運動を生じるコンピュータの衝撃力学特性の定式化と同定" 日本ロボット学会誌. 16・1. 110-117 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Jun Koyama, Saburo Matunaga and Yoshiaki Ohkami: "Dynamic Analysis of Flexible Multibody System Under Impact" Proc.20th International Symposium on Space Technology and Science, Gifu, May, 96-b-21. Vol.I. 283-288 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] S.Matunaga, Y.Fukushima, Hiroshi Yamamoto and Y.Ohkami: "TugRobot Satellites for In-Orbit Servicing" Dynamics and Control Structures in Space III,ed.C.L.Kirk, D.J.Inman, Computational Mechanics Publications, Southampton. 53-65 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] S.Matunaga, Y.Fukushima and Y.Ohkami: "Concept and Analysis of TugRobot Satellites for In-Orbit Servicing" 47th Congress of the International Astronautical Federation, IAF-96-A.6.02, Beijing, China, Oct.(1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Shigemune Taniwaki, Saburo Matunagaand Yoshiaki Ohkami: "Coordinated Control of a Satellite-Mounted Manipulator with Compensation for Inertial Parameter Variations" Proc.International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), TOKYO,July, 1997. 299-304

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] S.Matunaga, Y.Ohkami and O.Mori: "Tether-Based Capture of Orbiting Objects" 48th Congress of the International Astronautical Federation, IAF-97-A.3.08, Turin, Italy, Oct., 1997.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Saburo Matunaga, Ryoichi Hayashi and Yoshiaki Ohkami: "A Tether Based Method for Capturing In-Orbit Objects" Advances in the Astronautical Sciences, Space Cooperation into the 21st Century, Vol.96, American Astronautical Society, AAS 97-405,1997. 61-74

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Yohsuke Fukushima and Saburo Matunaga: "Arbitrary Viwpoint Reconstruction Onboard Space Shuttle : An flight Experiment of New Teleoperation Human Interface" Journal of Space Technology and Science. (to appear).

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Kazuya Yoshida: "Experimental Study on the Dynamics and Control of a Space Robot with the Experimental Free-Floatig Robot Satellite (EFFORTS) Simulator" Advanced Robotics. Vol.9, No.6. 583-602 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] K.Yoshida and M.Shimizu: "Phase Plane Analysis and Control of Spacecraft Attitude Disturbed by Manipulator Reaction" Proc.of 1996 ISAS 6th Workshop on Astrodynamics and Flight Mechanics. 243-247 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Kazuya Yoshida, Constantinos Mavrodis and Steven Dubowsky: "Impact Dynamics of Space Long Reach Manipulators" Proc.1996 IEEE Int.Conf.on Robotics and Automation. 1909-1916 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Kazuya Yoshida: "Dynamics and Control of a Robot Satellite to Obtain Samples from an Asteroid" Dynamics and Control of Structures in Space III. 67-81 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Koichi Fujishima, Tadashi Hiraoka and Kazuya Yoshida: "Dynamic Simulation of Free-Flying Space Robots for Service and Exploration" Proceedings of the International Conference on Filed and Service Robotics. 456-462 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Jun Koyama,etc: "Impact Analysis of Flexible Multibody System Unhder Iuipa." Proc.7th Workshop on Astrodynamics and Flight. Mechaniss7. 50-55 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Saburo Matunaga: "Vibration Suppression Using Acceleration Feedback Control・・・" AIAA Journal. 35・5. 856-862 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Hemanshu Lakhani,etc.: "Force Control of Kinematically Constraired Mechanics" JSME International Journal,. C,40,3. 484-492 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] Kazuya Yoshida etc.: "Three Dimensional Coutail Dynamics Simulation of Muses" Proc.7th Wovkshop on Astrodynamics and Flight. Mechania7. 160-165 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 吉田和哉,他: "衝突時に関節運動を生じるマニピュレータの衝撃力学特性" 日本ロボット学会誌. 16・1. 110-117 (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] Jun Koyama,S.Matunaga他: "Dynamic Analysis of Flexible Multibody System Under Impact" Proc.20th International Symposium on Space Technology and Science. Vol.I. 283-288 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Y.Ohkami,S.Matunaga他: "Force Control of Kinematically Constrained maripulators" Dynamics and Control of Structures in Space III. 3. 35-52 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Y.Ohkami,S.Matunaga他: "Suppression of Low Frequency Structural Vibrations" Journal of Reinforced Plastics and Composites. 15・8. 779-792 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] K.Yoshida 他: "Dynamics and Control of a Space Robot Capturing a Floating Torget" Journal of Space Technology and Science. 11・1. 22-33 (1995)

    • Related Report
      1996 Annual Research Report
  • [Publications] K.Yoshida 他: "Moving Base Robotics and Reaction Management Control" Robotics Research. 7. 100-109 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Y.Ohkami,S.Matunaga: "Space Robotics Research at the Tokyo Institute of Technology" Journal of Robotics and Mechatronics. 6. 390-393 (1994)

    • Related Report
      1995 Annual Research Report
  • [Publications] 柳沢宏,狼嘉彰 他: "宇宙用ドッキングシミュレータの試作と基礎実験" 第14回シミュレーション・テクノロジー・コンファレンス発表論文集. 109-112 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 柳沢宏,狼嘉彰,松永: "ドッキング模擬装置の性能評価実験" 第39回宇宙科学技術連合講演会講演集. 549-550 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 小山淳,松永三郎,狼: "衝撃を考慮した柔軟多体系の運動評価" 第39回宇宙科学技術連合講演会講演集. 193-194 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 小山淳,松永三郎,狼: "柔軟構造物の衝撃応答解析" 第45回応用力学連合講演会講演予稿集. 259-260 (1996)

    • Related Report
      1995 Annual Research Report

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Published: 1995-04-01   Modified: 2016-04-21  

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