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Developmental Research of Training System for the Operator of The Space Manipulator

Research Project

Project/Area Number 61850041
Research Category

Grant-in-Aid for Developmental Scientific Research

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionThe University of Tokyo

Principal Investigator

MIURA Hirofumi  The University of Tokyo ,Professor, 工学部, 教授 (50010682)

Co-Investigator(Kenkyū-buntansha) KOMATSU Tadashi  Toshiba Mechanical Engineering Laboratory ,Researcher, 機械研究所, 主事
IIKURA Shoichi  Toshiba Mechanical Engineering Laboratory ,Chief Researcher, 機械研究所, 主任研究員
SHIMOYAMA Isao  The University of Tokyo ,Associate Professor, 工学部, 助教授 (60154332)
Project Period (FY) 1986 – 1988
Project Status Completed (Fiscal Year 1988)
Budget Amount *help
¥15,800,000 (Direct Cost: ¥15,800,000)
Fiscal Year 1988: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1987: ¥4,000,000 (Direct Cost: ¥4,000,000)
Fiscal Year 1986: ¥11,000,000 (Direct Cost: ¥11,000,000)
KeywordsSpace Manipulator / Flexible Manipulator / Elastic Manipulator / Robot Simulator / 弾性アーム
Research Abstract

The manipulator which is used in the space is considered to be the payload for the rocket when it is launched from the earth. That is one of the reasons why the space manipulator must be designed to be as light as possidle. In the space,the gravity is near zero. It means that the manipulator need not support the weight of the handling material.Considering these conditions,the space manipulator is designed to be slim and flexible differing from the manipulator on the earth.
The space manipulator is operated by the master-slave system. It is sure that the operation of a flexible slave manipulator by a rigid master arm is very difficult and skillful work is necessary.
The purpose of this research is to develope a training system in order that the operator of the space manipulator can have a training on the earth.
The most important matter is to reduce the vibration of the flexible manipulator. if we can install the vibration-reduction controller between a master arm and a slave manipulator,t … More he operation will be much easier. For this purpose,many theoratical studies have been done for control of vibration of a flexible arm.
Mathematical modeling of the flexible arm is vEry important to discuss the vibration control. Dynamics of the flexible arm must be solved in real time to control the vibration. There are many studies of analysis of flexible manipulators using FEM(finite element method). However FEM can not be applied for real time problems. A simple but essential model must be introduced.
In this research the quasi-dynamical model is introduced. We consider a massless beam and mass is considered only at the and point of a beam. The deformation curve is assumed to be the same to the static deformation curve of a massless beam decided from boundary conditions at the both ends a beam. For a such mobel, it is easy to control the vibration.
we constructed the actual master-slave system and put the vibration controller between a master arm and a slave manipulator. This system can be operated easily comparing with the system without the vibration controller. Less

Report

(3 results)
  • 1988 Annual Research Report   Final Research Report Summary
  • 1986 Annual Research Report
  • Research Products

    (11 results)

All Other

All Publications (11 results)

  • [Publications] 呉忠霖,下山勲,三浦宏文: 第4回日本ロボット学会学術講演会講演論文集. 399-400 (1986)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] 呉忠霖,下山勲,三浦宏文: 第5回日本ロボット学会学術講演会講演論文集. 317-320 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] T.Komatsu: Proceedings of IFAC(1988 in Zurich). 181-192 (1988)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] T.Komatsu: Proceedings of NASA Conference on Space Robotics. (1989)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] I.Shimoyama: Proceedings of NASA Conference on Space Robotics. (1989)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] Chung-Ling, Wu; Isao, Shimoyrma; Hirofumi, Miura: "Design and Motion Control of Flexible Arm" Proceedings of the 4th Symposium of the Robotics Society of Japan. 399-400 (1986)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] Chung-Ling, Wu; Isao, Shimoyama; Hirofumi, Miura: "Developmental Research of 3D Flexible Arm" Proceedings of the 5th Symposium of the Robotics Society of Japan. 317-320 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] T. Komatsu: "Active Vibration Control for Flexible Space Environment Use anipulator" Proceedings of IFAC(1988 in Zurich). (1988)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] T. Komatsu: "Capture of Free-flying Payloads with Flexible Space Manipulators" Proceedings of NASA Conference on Space Robotics. (1989)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] I. Shimoyama: "Manipulators with Flexible Links: A Simple Model and Experiments" Proceedings of NASA Conference on Spacerobotics. (1989)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] 呉忠霖,下山勲,三浦宏文: 第4回日本ロボット学会学術講演会講演論文集. 399-400 (1986)

    • Related Report
      1986 Annual Research Report

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Published: 1987-03-31   Modified: 2016-04-21  

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