Dynamics and Control for Satellite Capture Robot based on the Impedance Theory

• Project/Area Number: 20760155
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: NAKANISHI Hiroki 独立行政法人宇宙航空研究開発機構, 研究開発本部, 常勤招聘研究員 (90361120)
• Research Collaborator: ABIKO Satoko 東北大学, 大学院・工学研究科, 助教 ; ROBERTO Lampariello ドイツ航空宇宙局(DLR), 研究員
• Project Period (FY): 2008 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2009: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000); Fiscal Year 2008: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
• Keywords: ロボティクス / 軌道上サービス / 衛星捕獲 / コンタクトダイナミクス / インピーダンス制御 / フリーフライングロボット / 接触力学

Research Abstract

Contact is a critical phase in satellite capture because it involves the risk that the contact will push the target and robot away from each other. In this study, effective contact control methods based on the contact dynamics analyses were developed to prevent the target from being pushed and to maintain contact until the capture completed.

Research Products

• [Journal Article] Virtual Mass of Impedance System for Free-Flying Target Capture (2010)
  • Author(s): Hiroki Nakanishi, Naohiro Uyama, Kazuya Yoshida
  • Journal Title: Proc.of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 4101-4106
  • Peer Reviewed
• [Journal Article] ハイブリッドシミュレータを用いた浮遊ターゲット捕獲の接触力学解析 (2010)
  • Author(s): 中西洋喜, 佐藤隼人, 吉田和哉, 澤田弘崇, 小田光茂
  • Journal Title: 日本機械学会論文集(C編) 76巻 Pages: 128-133
  • Peer Reviewed
• [Journal Article] Time-Optimal Manipulator Control for Management of Angular Momentum Distribution during the Capture of a Tumbling Target (2010)
  • Author(s): Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida
  • Journal Title: Advanced Robotics Vol.24 Pages: 441-466
  • NAID: 10027464152
  • Peer Reviewed
• [Journal Article] ハイブリッドシミュレータを用いた浮遊ターゲット捕獲の接触力学解析 (2010)
  • Author(s): 中西洋喜, 佐藤隼人, 吉田和哉, 澤田弘崇, 小田光茂
  • Journal Title: 日本機械学会論文集(C編) Volume: 76 Pages: 128-133
  • Peer Reviewed
• [Journal Article] Time-Optimal Manipulator Control for Management of Angular Momentum Distribution during the Capture of a Tumbling Target (2010)
  • Author(s): Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida
  • Journal Title: Advanced Robotics Vol.24, No.3 Pages: 441-466
  • NAID: 10027464152
  • Peer Reviewed
• [Journal Article] Influence of Control Time Delay on the Dynamics of Satellite Capture (2009)
  • Author(s): Hiroki Nakanishi, Masaaki Kodama, Kazuya Yoshida
  • Journal Title: TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, SPACE TECHNOLOGY JAPAN Vol.7
  • NAID: 130000308745
  • Peer Reviewed
• [Journal Article] Influence of Control Time Delay on the Dynamics of Satellite Capture (2009)
  • Author(s): Hiroki Nakanishi, Masaaki Kodama and Kazuya Yoshida
  • Journal Title: Transactions of the JSASS (印刷中)
  • NAID: 130000308745
  • Peer Reviewed
• [Journal Article] Time-Optimal Manipulator Control of a Free-Floating Space Robot with Constraint on Reaction Torque (2008)
  • Author(s): Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida
  • Journal Title: Proc.of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 2828-2833
  • Peer Reviewed
• [Journal Article] Time-Optimal Manipulator Control of a Free-Floating Space Robot with Constraint on Reaction Torque (2008)
  • Author(s): Tomohisa Oki, Hiroki Nakanishi and Kazuya Yoshida
  • Journal Title: Proc. of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 2828-2833
  • Peer Reviewed
• [Presentation] Contact Dynamics Modeling for Snare Wire Type of End Effector in Capture Operation (2011)
  • Author(s): Naohiro Uyama, Kazuya Yoshida, Hiroki Nakanishi, Mitsushige Oda, Hirotaka Sawada, Satoshi Suzuki
  • Organizer: 28^<th> ISTS
  • Place of Presentation: 沖縄
  • Year and Date: 2011-06-08
• [Presentation] フリーフライング宇宙ロボットにおける慣性特性を考慮した最適□ 運動量分配制御 (2010)
  • Author(s): 前田敏博, 中西洋喜, 大木智久, 吉田和哉
  • Organizer: 第15回ロボティクスシンポジア
  • Place of Presentation: 奈良
  • Year and Date: 2010-03-15
• [Presentation] フリーフライング宇宙ロボットにおける慣性特性を考慮した最適 運動量分配制御 (2010)
  • Author(s): 前田敏博, 中西洋喜, 大木智久, 吉田和哉
  • Organizer: 第15回ロボティクスシンポジア
  • Place of Presentation: 奈良
  • Year and Date: 2010-03-15
• [Presentation] 微小重力環境下のロボットを模擬する空気浮上型テストベッドの設計と製作 (2009)
  • Author(s): 浅木森孔貴, 池田裕樹, 平野大地, 池田紗和子, 前田敏博, Christina Tomiye McQuirk, 中西洋喜, 吉田和哉
  • Organizer: 計測自動制御学会東北支部45周年記念講演会
  • Place of Presentation: 岩手
  • Year and Date: 2009-09-08
• [Presentation] 宇宙ステーション搭載アームを用いた捕獲ミッションにおけるLEE(Latching End Effector)とターゲットの接触力学解析 (2008)
  • Author(s): 鵜山尚大, 中西洋喜, 吉田和哉, 澤田弘崇, 小田光茂, 鈴木悟
  • Organizer: 第18回アストロダイナミクスシンポジウム
  • Place of Presentation: 相模原
  • Year and Date: 2008-07-28
• [Presentation] 宇宙ステーション搭載アームを用いた捕獲ミッションにおけるLEE(Latchmg End Eflbctor)とターゲットの接触力学解析 (2008)
  • Author(s): 中西洋喜
  • Organizer: 第18回アストロダイナミクスシンポジウム
  • Place of Presentation: 相模原
  • Year and Date: 2008-07-28
• [Presentation] むだ時間要素を含む手先インピーダンス制御を用いた衛星捕獲の接触力学解析 (2008)
  • Author(s): 中西洋喜, 児玉正明, 吉田和哉
  • Organizer: ロボティクス・メカトロニクス講演会2008
  • Place of Presentation: 長野
  • Year and Date: 2008-06-07