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2002 Fiscal Year Final Research Report Summary

RESEARCH ON MOTION ANALYSIS SYSTEM FOR 3-DIMENSIONAL SPACE ROBOT USING PERSONAL COMPUTER NETWORK

Research Project

Project/Area Number 13650260
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionKANTO GAKUIN UNIVERSITY

Principal Investigator

KOMATSU Tadashi  THE COLLEGE OF ENGINEERING, THE DEPARTMENT OF MECHANICAL ENGINEERING, PROFESSOR, 工学部, 教授 (80267525)

Project Period (FY) 2001 – 2002
KeywordsRobotics / Space Robotics / Manipulator / Dynamics / Simulator / Network / Linux / Distributed Processing
Research Abstract

In this research, we have studied a space robot simulator for three-dimensional motion using several personal computers connected by LAN. This simulator had same performance and realized to reduce its cost comparing conventional simulators using a UNIX machine. First of all, we developed non-recursive Lagrange equations with order N for three-dimensional flexible space robot, where N denotes the number of robot bodies. These equations play very important role in parallel computing system with personal computers, because they reduce calculation times of equations of motion. Moreover, non-recursive equations can be separated to an equation for each body. It means that each body's equation can be calculated by parallel processing at the same time. Next, we constructed parallel processing system. We considered a space robot system in an orbit, which consists of a space platform and a two-link manipulator. The number of bodies is three. We used one personal computer for the server and three computers for clients. One client calculates one body's equation. First of all, each client calculates non-linear terms and control torque in equations. These results are sent to the server. The server calculates each angular acceleration by multiplying an inverse mass matrix and sent them to each client. Then, angle and angular velocity of a robot are calculated. These are calculation sequence in one cycle. We confirmed that this simulator realized same calculation time and the accuracy comparing with conventional simulator using one UNIX machine. On the other hand, the price of the system became one fifth of the UNIX machine. We used Linux for OS.

  • Research Products

    (6 results)

All Other

All Publications (6 results)

  • [Publications] Komatsu Tadashi: "Control of a Redundant Flexible Manipulator on a Space Platform"Proc. 16^<th> Int. Symp. Space Flight Dynamics. 35 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Komatsu Tadashi: "Precise Trajectory Control of a Redundant Flexible Manipulator on a Space Platform"Advanced Robotics. 17-8. (2003)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 小松 督: "並列処理を用いた3次元宇宙用柔軟ロボットシミュレータの開発"関東学院大学工学部研究報告. 46-2. 7-18 (2003)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Komatsu Tadashi: "Control of a Redundant Flexible Manipulator on a Space Platform"Proc. 16^<th> International Symposium on Space Flight Dynamics. No.35. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Komatsu Tadashi: "Precise Trajectory Control of a Redundant Flexible Manipulator on a Space Platform"Advanced Robotics. 17-18 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Komatsu Tadashi: "Development of Three-dimensional Flexible Space Robot Simulator Using Parallel Processing Method"The Journal of Technological Researches. The College of Engineering, Kanto Gakuin University. 46-2. 7-18 (2003)

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

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Published: 2004-04-14  

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