Hybrid Simulation for Autonomous Docking of Orbital Transfer Vehicle
Project/Area Number |
23760214
|
Research Category |
Grant-in-Aid for Young Scientists (B)
|
Allocation Type | Multi-year Fund |
Research Field |
Intelligent mechanics/Mechanical systems
|
Research Institution | Tohoku University |
Principal Investigator |
ABIKO Satoko 東北大学, 工学(系)研究科(研究院), 助教 (40560660)
|
Project Period (FY) |
2011-04-28 – 2015-03-31
|
Project Status |
Completed (Fiscal Year 2014)
|
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)
|
Keywords | 接触力学 / 閉空間把持 / 柔軟マニピュレータ / ハイブリッドモーションシミュレーション / 宇宙マニピュレータ / ハイブリッドシミュレーション |
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.
|
Report
(5 results)
Research Products
(16 results)
-
-
-
-
-
-
-
[Presentation] Dynamic Simulator for HTV Capture with the Space Station Remote Manipulator System2014
Author(s)
Ryo Yoshimitsu, Akinori Kobayashi, Yudai Yuguchi, Riku Takano, Kenji Nagaoka, Kazuya Yoshida, Satoko Abiko, Hiroki Nakanishi, Mitsushige Oda, and Hiroshi Ueno
Organizer
12th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS’14)
Place of Presentation
Montreal, Canada
Year and Date
2014-06-17 – 2014-06-19
Related Report
-
[Presentation] Dynamic Simulator for HTV Capture with Space Station Remote Manipulator System2014
Author(s)
Ryo Yoshimitsu, Akinori Kobayashi, Yudai Yuguchi, Riku Takano, Satoko Abiko, Kenji Nagaoka, Kazuya Yoshida, Hiroki Nakanishi, Mitsushige Oda, and Hiroshi Ueno
Organizer
12th International Symposium on Artificial Intelligence, Robotics and Automation in Space
Place of Presentation
Montreal, Canada
Related Report
-
-
-
-
-
-
-
-