2010 Fiscal Year Final Research Report
Dynamics and Control for Satellite Capture Robot based on the Impedance Theory
| Project/Area Number |
20760155
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku University |
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Principal Investigator |
NAKANISHI Hiroki 独立行政法人宇宙航空研究開発機構, 研究開発本部, 常勤招聘研究員 (90361120)
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| Research Collaborator |
ABIKO Satoko 東北大学, 大学院・工学研究科, 助教
ROBERTO Lampariello ドイツ航空宇宙局(DLR), 研究員
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| Project Period (FY) |
2008 – 2010
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| Keywords | ロボティクス |
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| Research Abstract |
Contact is a critical phase in satellite capture because it involves the risk that the contact will push the target and robot away from each other. In this study, effective contact control methods based on the contact dynamics analyses were developed to prevent the target from being pushed and to maintain contact until the capture completed.
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