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1995 Fiscal Year Final Research Report Summary

Developmental Research on Autonomous Space Docking System Using Intelligent Adaptive Structures

Research Project

Project/Area Number 05555262
Research Category

Grant-in-Aid for Developmental 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
KeywordsIntelligent Adaptive Structures / VGT (Variable Geometry Truss) / Docking / Autonomy / Micro-gravity / Redundant system / Dynamics / Hardware Experiment
Research Abstract

Concerning the autonomous docking system using the intelligent adaptive structures, the following results have been obtained.
1. Formulation of a planar docking system model and development of a numerical simulation program (1) Numerical simulation program formulated by Kane' s method (2) Efficient formulation of inverse dynamics by Lagrangian method
2. Position measurement and recognition of a target satellite using visual information : (1) Development of a real time position measurement system using a stereo vision (2) Corresponding method for stereo vision and studies of object recognition
3. Control of docking (1) Optimal posture of docking system based on virtual mass criteria (2) PD-impedance control (3) Impedance control for redundant systems
4. Hardware experiment (1) Construction of hardware model of target satellite and docking system -Planar VGT with six variable length members and end effector -Stereo vision system using visual processing system (2)Verification of hardware model

  • Research Products

    (22 results)

All Other

All Publications (22 results)

  • [Publications] 泉田 啓,室津義定 久司一博: "知的適応構造物を用いたドッキング機構のPDインピーダンス制御" 日本ロボット学会誌. 11. 692-701 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Senda,K.,Murotsu,Y.,and Kawano,H.: "Efficient Lagrangian Formulation of Two-Dimensional Variable Geometry Truss" Proc.of First World Conference on Structural Control. TP3. 33-42 (1994)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Senda,K.,Murotsu,Y.,Kawano,H.,and Sakaguchi,S.: "Impedance Control of a Redundant VGT Using an Efficient Formulation of inverse Dynamics" Fifnh International Conference on Adaptive Structures (Tani,J. et al.(eds.),Technomic Publishing). 120-129 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 室津義定,大久保博志: "知的適応構造物…その概念と制御" システム/制御/情報. 39. 142-147 (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] 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] Senda,K.,Ando,A.,and Murotsu,Y.: "Optimal Posture of a Redundant VGT for Docking" Sixth International Conference on Adaptive Structures (Craig,R.et al.(eds.),Technomic Publishing). (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Senda,K.,Kawano,H.,and Murotsu,Y.: "Impedance Control of a Redundant Variable Geometry Truss" Sixth International Conference on Adaptive Structures (Craig,R.et al.(eds.),Technomic Publishing). (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 泉田 啓,河野秀文,室津義定: "二次元可変形状トラスの逆動力学計算の効率的定式法" 日本ロボット学会誌. 14. (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Senda, K., Murotsu, Y., and Hisaji, K.: "PD-Impedance Control of Docking Mechanism Composed of Intelligent Adaptive Structure (in Japanese)" Journal of Robotics Society of Japan. Vol.11, No.5. 693-701 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Senda, K., Murotsu, Y., and Kawano, H: "Efficient Lagrangian Formulation of Two-Dimensional Variable Geometry Truss" Proc.of First World Conference on Structural Control. Vol.TP3. 33-42 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Senda, K., Murotsu, Y., Kawano, H., and Sakaguchi, S: "Impedance Control of a Redundant VGT Using an Efficient Formulation of Inverse Dynamics" Fifth International Conference on Adaptive Structures (Tani, J.et al. (eds.), Technomic Publishing). 120-129 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Murotsu, Y.and Okubo, H: "Intelligent Adaptive Structures for Space Applications---Concept and Control (in Japanese)" Systems, Control and Information. Vol.39, No.3. 142-147 (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] Wada, K., Izumi, M., and Fukunaga, K: "A method of 3-D Object Recognition and Pose Estimation (in Japanese)" 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
  • [Publications] Senda, K., Ando, A., and Murotsu, Y: "Optimal Posture of a Redundant VGT for Docking (in press)" Sixth International Conference on Adaptive Structures (Craig, R.et al. (eds), Technomic Publishing). (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Senda, K., Kawano, H., and Murotsu, Y: "Impedance Control of a Redundant Variable Geometry Truss (in press)" Sixth International Conference on Adaptive Structures (Craig, R.et al. (eds), Technomic Publishing). (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Senda, K., Kawano, H., and Murotsu, Y: "Efficient Formulation of Inverse Dynamics of a Planar Variable Geometry Truss (to appear in Japanese)" Journal of the Robotics Society of Japan. Vol.14, No.3. (1996)

    • 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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