| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2011: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Outline of Final Research Achievements |
The purpose of this research is to establish an safe autonomous docking control system for capturing a floating object in orbital servicing mission. To capture it, the enclosed capturing approach with flexible wires is applied. For this purpose, contact dynamics model between flexible wire and a rigid body was empirically derived. The derived model is verified and compared with real flight data of the capture mission of the H-II Transfer Vehicle (HTV) by space robotic arm, SSRMS. Besides, a control method to maintain contact between the wire and the floating object and to prevent the floating object bouncing away was developed. To adjust coefficients of the controller adaptively, the contact maintaining control was achieved for floating objects with arbitrary dynamic parameters.
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