| Project/Area Number |
11650940
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Aerospace engineering
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| Research Institution | Tokyo Institute of Techology |
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Principal Investigator |
MATUNAGA Saburo Graduete School of Science and Engineering Tokyo Institute of Techology Associate Professor, 大学院・理工学研究科, 助教授 (00222307)
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| Co-Investigator(Kenkyū-buntansha) |
FURUYA Hiroshi Interdisciplinary Graduete School of Science and Engineering Tokyo Institute of Techology Associate Professor, 大学院・総合理工学研究科, 助教授 (00190166)
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| Project Period (FY) |
1999 – 2000
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| Project Status |
Completed (Fiscal Year 2000)
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| Budget Amount *help |
¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 2000: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 1999: ¥2,300,000 (Direct Cost: ¥2,300,000)
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| Keywords | on-orbit servicing / disable satellite / space robot / dual-manipulator / simulator system / satellite cluster |
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| Research Abstract |
This research is concerning realization of hardware systems for on-orbit servicing such as capturing damaged satellite in orbit. A robot satellite with dual-manipulators is one of the choices for on-orbit servicing. We have constructed a ground experiment simulator system including two 7-degree-of-freedom (DOF) manipulators as a chaser satellite model and floating testbeds as target satellite models. This system is a tele-operation ground experiment system and consists of the following subsystems : robot system, vision system, manipulator operating system, ground control system and damage satellite model system. Using this system, we will study on feasible capturing and berthing methods of damaged satellites using dual-manipulator. Using the system we conducted the basic satellite capturing experiments. In addition, we have developped a ground experiment system for the robot satellite system consisting of completely wireless air-floating satellite simulators with air-thrusters, a posit
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ion sensing system and a ground control system. We also developed tether control units equipped with for the satellites. We conducted various experiments for on-orbit servicing.
In order to analyze dynamics of space systems, such as cluster satellite systems and the capturing process of damaged satellites, it is necessary to consider such space systems as reconfigurable multibody systems. In this study, we discuss the numerical computation of the dynamics of the ground experiment system to simulate the capturing and berthing process of a satellite by a dual-manipulator on the flat floor as an example. We formulate the linear complementarity problem (LCP) for the contact dynamics with impacts and frictions, which is one of the most difficult issues on our study, and consider the method of numerical computation with guaranteed accuracy of the LCP.
Simultaneous design procedures on structure and control system are proposed for spacecraft and space structure systems to realize the adaptability.
The procedures are based on the BMI (Bilinear Matrix Inequality) techniques and the general adaptive structure model is considered for the formulation. The theoretical and numerical analyses indicate the improvement in the performance and the reliability for the system. Furthermore, through the experiment with the adaptive gyroscopic system the possibility for the proposed design procedures has been indicated. Less
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