A space free-flying robot is expected to play an important role as a
service robot for maintenance and supply to space infrastructures,
such as space stations or geostational communication/broadcasting
satellites. The National Space Development Agency of Japan (NASDA) is
launching the Experimental Test Satellite VII
(ETS-VII), a world-first
free-flying robot, to test and demonstrate the robotics capability on
orbit. In this research, we study dynamic analysis and control
technologies required for the space free-flying robot, with keeping a
close connection with NASDA.
Latest results are displayed
here.
Robotics on the International Space Station
For the Japanese module of the international space station
(JEM), NASDA is developing a robot arm
which is featured by a
macro-micro manipulator system. The macro part of the arm has 10m in
length, then shows structural flexibility. For dexterous
operations we need sophisticated control schemes. In this research, we
study both of position and force control methods at the endtip of the
micro manipulator, with simultaneous control of the vibrations of the
macro manipulator. The project is under the support from National Space Development Agency, Japan
/Japan Space Forum.
A new page, including the project report and academic papers, is comiung soon!
Design and Control of Lunar/Planetary Rovers
As is proven by the great success of Mars Pathfinder mission by
JPL/NASA, an exploration rover will play a significant role for Lunar
or planetary missions. In this research, we develop a
test-bed of a
rover with a Rocker-Bogie type suspension, which has high locomotion capability
on rough terrain, and evaluate the performance on natural terrain. Our goal is to develop a useful model of wheel/soil traction
from the experimental data on slippage and sinkage of the wheel on various
types of natural terrain, and to develop a practical control law for
rover navigation.
Latest results are described
here.(As of Feb. 2002)
A proposal of a possible polar ice-finding mission is described
here
(in Japasese but with figures and movies, as of Oct. 2000.)
Dynamics and Control of the Asteroid Sample-Return Probe
In addition to the major planets, small planets like asteroids and comets
increasingly attract scien-tific attention these years. The Institute of Space
and Astronautical Science, Japan, has a plan to launch a spacecraft named
MUSES-C, which will make rendez-vous with an asteroid after two-year voyage,
then collect and bring the samples back to Earth. Applying our
technical background on the dynamics and control of free-flying robots, we are
taking an improtant role in the design and
development of the sampling mechanism and the control dynamics of
the spacecraft.
(a simulation model of MUSES-C developed in our lab: relatively old) Latest simulation of motion dynamics during the touch-down sampling.
(as of Feb. 2003) (c) Space Robotics lab., Tohoku University
