Control apparatus for a space robot

Details Control apparatus for a space robot Control apparatus for a space robot

1994-05-09

1995-02-14

MacDonald, Allen R.

395 95, 395 96, 395 97, 395 98, A61B 1756

Patent

active

053902882

ABSTRACT:
A control apparatus detects the position and velocity of an artificial satellite by sensors mounted on the satellite, computes tip velocity of a manipulator on the satellite on the basis of detected information items, with considering a variation in position and attitude of the satellite, and enables the manipulator to track a target flying in space. The control apparatus sets an approach maneuver trajectory at the flying target with the use of relative position/attitude information items between a gripper and a corresponding portion of the flying target which are obtained by a proximity sensor. When the flying target is captured by the gripper on the manipulator, the control apparatus detects a force acting upon the manipulator using a force/torque sensor. The target capturing operation is performed by sending command signals to driving motors connected between the shafts of the satellite manipulator.

REFERENCES:
patent: 4747458 (1988-05-01), Andre et al.
Experimental Study of Motion Control and Trajectory Planning for a Stewart Platform Robot Manipulator C. C. Nguyen, S. S. Antrazi Z. L. Zhou C. E. Campbell Jr. IEEE Apr. 1991.
Control of Space Manipulator for Capturing a Tumbling Object Zheng Hua Luo and Yoshiyuki Sakawa IEEE/ Dec. 1990.
Proc. of the 9th Conference of the Robitics Society of Japan "Compensation Control of Free Flying Space Using Sensors", Kubota et al. Nov. 27-29, 1991 pp. 101-102.
Proc. of Dynamics and Design Conference; "Control of Flying Space Robot for Capturing Maneuver", Kubota, et al., Jul. 9-11, 1991 pp. 387-392.

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