Hybrid Simulation for Autonomous Docking of Orbital Transfer Vehicle

2014 Fiscal Year Final Research Report

• Project/Area Number: 23760214
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: ABIKO Satoko 東北大学, 工学(系)研究科(研究院), 助教 (40560660)
• Project Period (FY): 2011-04-28 – 2015-03-31
• Keywords: 接触力学 / 閉空間把持 / 柔軟マニピュレータ

Outline of Final Research Achievements

The purpose of this research is to establish an safe autonomous docking control system for capturing a floating object in orbital servicing mission. To capture it, the enclosed capturing approach with flexible wires is applied. For this purpose, contact dynamics model between flexible wire and a rigid body was empirically derived. The derived model is verified and compared with real flight data of the capture mission of the H-II Transfer Vehicle (HTV) by space robotic arm, SSRMS. Besides, a control method to maintain contact between the wire and the floating object and to prevent the floating object bouncing away was developed. To adjust coefficients of the controller adaptively, the contact maintaining control was achieved for floating objects with arbitrary dynamic parameters.

Free Research Field

宇宙ロボティクス