| Research Abstract |
In future space explorations or space developments, it is expected that space robot with manipulators will do risky works on behalf of human astronauts. This project research deals with development of control methods, by which some space manipulators are controlled in distributed form. This method has some advantage properties ;
(1) Even if a number of robots is changed, the control algorithm of the robot is not changed.
(2) Calculation time by this method does not depend to the number of the robots.
These properties could be verified not only theoretically but also experimentally using simulator made by us. Here, two type robot systems are examined ; one of them is a system in which some robot manipulators grasp an object in parallel (we call this parallel robot system), another is one in which they grasp in series (series robot system). In both systems, theses properties can be confirmed to be kept.
Moreover, in this project, the following sub-researches were done ;
(1) Development of space robot manipulators using transpose of generalized inverse matrix
(2) Development of control methods of underwater robot manipulator
(3) Control of some robots
These researches also gave important knowledge and valuable experimental data to us. We would like to enhance the abilities of the floating robot with manipulators by integrating knowledge and experience obtained in this project research.
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