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1995 Fiscal Year Final Research Report Summary

Fundamental Research on Autonomous Construction of Space Truss Structures by Intelligent Space Robots

Research Project

Project/Area Number 05452307
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field Aerospace engineering
Research InstitutionOsaka Prefecture University

Principal Investigator

MUROTSU Yoshisada  Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineering, Professor, 工学部, 教授 (50081386)

Co-Investigator(Kenkyū-buntansha) FUKUNAGA Kunio  Osaka Prefecture University, College of Engineering, Dept.of Computer and System, 工学部, 教授 (60081296)
OSUKA Koichi  Osaka Prefecture University, College of Engineering, Dept.of Mechanical Systems, 工学部, 助教授 (50191937)
SHIBATA Hiroshi  Osaka Prefecture University, College of Engineering, Dept.of Computer and System, 工学部, 教授 (80094506)
OKUBO Hiroshi  Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineeri, 工学部, 助教授 (40094502)
SENDA Kei  Osaka Prefecture University, College of Engineering, Dept.of Aerospace Engineeri, 工学部, 助教授 (60206662)
Project Period (FY) 1993 – 1995
KeywordsIntelligence / Space Robots / Space Truss Structures / Construction / Hardware Experiments / Autonomy / Teaching / Planing
Research Abstract

Concerning the automatic construction of space truss structures by space robots, the following results have been obtained.
1. Formulation of the space robots and development of a numerical simulation program
2. Autonomy using visual information : (1) Development of a real time position measurement system using a stereo vision (2) Hardware experiment of visual feedback control (3) Corresponding method for stereo vision and snakes for object recognition
3. Control of Space Robot (1) Hardware experiment of position and attitude control of satellite main body (2) Adaptive control for unknown object handled by manipulator
4. Autonomous construction (1) Modeling and control of constrained manipulator by environment
5. Hardware experiment (1) Construction of hardware model of space robot and truss structure -Floating on a planar table -Position/attitude control device and 3-DOF scara type manipulator -Master-slave system (2) Some experimental verification

  • Research Products

    (26 results)

All Other

All Publications (26 results)

  • [Publications] Murotsu,Y.,Senda,K.,Mitsuya,A.,Fujii,K.,and Nunohara,T.: "Experimental Studies for Control of Manipulators Mounted on a Free-Flying Space Robot" Proc.of IEEE/RSJ International Conference on Intelligent Robots and Systems. 2148-2154 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Murotsu,Y.,Senda,K.,Ozaki,M.,and Tsujio,S.: "Parameter Identification of Unknown Object Handled by Free-Flying Space Robot" AIAA Journal of Guidance,Control,and Dynamics. 17. 488-494 (1994)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Murotsu,Y.and Senda,K.: "Space Robotics Research at the University of Osaka Prefecture -Control of Free-Flying Robots with Structurally Flexible Manipulators-" Journal of Robotics and Mechatronics. 6. 397-401 (1994)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Osuka,K.,Yoshida,K.,and Ono,T.: "New Design Concept of Space Manipulator -A Proposal of Torque-unit Manipulator-" Proc.of the 33rd Conference on Decision and Control. 1823-1825 (1994)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 柴田 浩,紅林 毅: "簡易型適応制御に関する離散時間アルゴリズム" 計測自動制御学会論文集. 31. 177-184 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Senda,K.,Murotsu,Y.,Nagaoka,H.,and Mitsuya,A.: "Attitude Control for Free-Flying Space Robot with CMG" Proc.of AIAA Guidance,Navigation,and Control Conference. 1494-1502 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Okubo,H.,Nagano,N.,Komatsu,N.,and Tsumura,T.: "Path Planning for Space Manipulators Using Enhanced Disturbance Map" Proc.of AIAA Guidance,Navigation,and Control Conference. 1510-1517 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Nishimura,K.,Izumi,M.,and Fukunaga,K.: "Object Recognition in Image Sequences with Hopfield Neural Network" IEICE Transactions on Information and Systems. E78-D. 1058-1064 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 成 烈完,柴田 浩: "Lyapunav-like関数による非マッチング不確かさをもつ非線形系の大域的漸近安定化" 計測自動制御学会論文集. 31. 1531-1533 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 成 烈完,柴田 浩: "非線形動的補償器による非マッチング不確かさをもつ非線形系の大域的漸近安定化" 計測自動制御学会論文集. 31. 1573-1578 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 和田賢一,泉 正夫,福永邦雄: "3次元物体認識と姿勢の推定に関する一手法" 電気学会論文誌. 115-C. 1325-1331 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Matsumoto,T.,Izumi,M.,and Fukunaga,K.: "Object Recognition Based on an Active Vision" Proc.of ACCV'95 Second Asian Conf.on Computer Vision. I. 141-145 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yahata,Y.,Ohta,M.,Izumi,M.,and Fukunaga,K.: "Position and Pose Estimation of An Object Using Nonlinear Least Square Method and Genetic Algorithm" Proc.of ACCV'95 Second Asian Conf.on Computer Vision. III. 529-533 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Murotsu, Y., Senda, K., Mitsuya, A., Fujii, K., and Nunohara, T: "Experimental Studies for Control of Manipulators Mounted on a Free-Flying Space Robot" Proc.of IEEE/RSJ International Conference on Intelligent Robots and Systems. 2148-2154

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Murotsu, Y., Senda, K., Ozaki, M., and Tsujio, S: "Space Robotics Research at the University of Osaka Prefecture ---Control of Free-Flying Robots with Structurally Flexible Manipulators---" AIAA Journal of Guidance, Control, and Dynamics. Vol.17, No.3. 488-494 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Murotsu, Y., Senda, K: "Space Robotics Research at the University of Osaka Prefecture ---Control of Free-Flying Robots with Structurally Flexible Manipulators---" Journal of Robotics and Mechatronics. Vol.6, No.5. 397-401 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Osuka, K., Yoshida, K., and Ono, T: "New Design Concept of Space Manipulator --- A Proposal of Torqueunit Manipulator ---" Proc.of the 33rd Conference on Decision and Control. 1823-1825 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shibata, H.and Kurebayashi, T: "New Descrete-Time Algorithm for Simple Adaptive Control (in Japanese)" Trans.SICE. Vol.31, No.2. 177-184 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Senda, K., Murotsu, Y., Nagaoka, H., and Mitsuya, A: "Attitude Control for Free-Flying Space Robot with CMG" Proc.of AIAA Guidance, Navigation, and Control Conference. 1494-1502 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Okubo, H., Nagano, N., Komatsu, N., and Tsumura, T: "Path Planning for Space Manipulators Using Enhanced Disturbance Map" Proc.of AIAA Guidance, Navigation, and Control Conference. 1510-1517 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] NISHIMURA,K., Izumi, M., and Fukunaga, K: "Object Recognition in Image Sequences with Hopfield Neural Network" IEICE Transactions on Information and Systems. Vol.E78-D,No.8. 1058-1064 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Sung, Y.and Shibata, H: "Global Asymptotic Stabilization of Control Systems with Mismatched Uncertainties Using a Lyapunov-like Function" Trans.SICE. Vol.31, No.9. 1531-1533 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Sung, Y.and Shibata, H: "Global Asymptotic Stabilization of Nonlinear Systems with Mismatched Uncertainties Using Nonlinear Dynamic Controller" Trans.SICE. Vol.31, No.10. 1573-1578 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Wada, K., Izumi, M., and Fukunaga, K: "A method of 3-D Object Recognition and Pose Estimation" Trans.IEE Japan. Vol.115-C,No.11. 1325-1331 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Matsumoto, T., Izumi, M., and Fukunaga, K: "Object Recognition Based on an Active Vision" Proc.of ACCV'95 Second Asian Conf.on Computer Vision. Vol.I. 141-145 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yahata, Y., Ohta, M., Izumi, M., and Fukunaga, K: "Position and Pose Estimation of An Object Using Nonlinear Least Square Method and Genetic Algorithm" Proc.of ACCV'95 Second Asian Conf.on Computer Vision. Vol.III. 529-533 (1995)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1999-03-09  

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