Boots – shoes – and leggings
Patent
1994-02-04
1996-06-11
Trammell, James P.
Boots, shoes, and leggings
364578, G05B 1918
Patent
active
055262546
DESCRIPTION:
BRIEF SUMMARY
This application is a 371 of PCT/JP93/00751 filed Jun. 3, 1993.
BACKGROUND OF THE INVENTION
This invention relates to a simulation method and apparatus for performing simulation, a method and apparatus for performing simulation and control, and a method and apparatus for performing control of a manipulator apparatus for use with a spacecraft such as an artificial satellite or a space robot having a manipulator for working on an orbit around the earth or in the space or a robot for hazardous environments having a manipulator for working on the bottom of the sea or in an underground passage or a tunnel.
Investigations for spacecrafts (space robots, artificial satellites and so forth) having a manipulator which performs various operations by an astronaut outside the spacecraft in place of the astronaut actively in order to perform various operations on an orbit, which are forecast in construction and application of a space infrastructure such as a space station or a platform, are proceeded efficiently with safety.
In this instance, it is convenient if an emulation apparatus in the process of development of on-board software (OBS) or an operator supporting apparatus in the process of application of a spacecraft is available.
This similarly applies to the case wherein a manipulator which has a dynamic distance from an operator such as on the bottom of the sea or in an underground passage or a tunnel is operated by programmed operation or remote control.
Conventionally, one of very popular techniques of performing a design analysis or simulation regarding, for example, an attitude control system for an artificial satellite is to construct a dynamic model of an artificial satellite on a computer and perform necessary calculations off-line. In such off-line simulation, simulation proceeds by way of the steps of preparations of input data, dynamics calculation and display of output data (graphic display, time series graph display). And, in this instance, in the off-line simulation, the steps are performed separately one by one.
Further, since a conventional space robot, artificial satellite or the like does not include such a large attitude disturbance source as a manipulator, naturally a cooperative control system between an attitude control system and a manipulator control system or the like is not developed as yet. Consequently, for an attitude control system of the body of a space robot, an artificial satellite or the like, only control systems separate for different axes for rolling, pitching and yawing are designed and applied.
For example, where a manipulator is installed on a space shuttle, such a special system as a system for suppressing a disturbance originating from the manipulator to the attitude control system of the space shuttle is not adopted, and a variation in attitude of the spacecraft involved in driving of the manipulator is ignored.
In a conventional spacecraft having such a manipulator as described above, where the spacecraft does not include means for controlling a disturbance arising from the manipulator, there is a subject in that, when the manipulator is operated, control against an attitude disturbance which arises each time the manipulator is driven cannot be taken into consideration and consequently the variation in attitude of the body of the spacecraft cannot be regulated.
Further, in the development and application of a spacecraft, an emulation apparatus (for simulating the dynamics of a spacecraft) in the process of development and an operator supporting apparatus (for driving a manipulator of the spacecraft efficiently with safety) in the process of application are required essentially. However, the following subjects to be solved are involved in application of a conventional off-line simulator to an emulation apparatus or an operator supporting apparatus.
First, an off-line simulator does not have a real time performance which is required for an emulation apparatus or an operator supporting apparatus. In particular, it cannot sequentially repeat the three steps (refer to FIG.
REFERENCES:
patent: 4956790 (1990-09-01), Tsuchihashi et al.
patent: 5046022 (1991-09-01), Conway et al.
patent: 5231693 (1993-07-01), Backer et al.
patent: 5303384 (1994-04-01), Rodriguez et al.
patent: 5459659 (1995-10-01), Takenaka
Hirata Mitsunori
Maruyama Tsugito
Nagashima Fumio
Sato Yuichi
Uchiyama Takashi
Fujitsu Limited
Trammell James P.
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