| Accession number;00A0150760 |
| Title;Berthing Manipulation by a Space Robotic Arm with Consideration of Joint Flexibility. |
| Author;KANZAWA TAKUYA(Tokyo Inst. of Technology, Graduate School) MATSUNAGA SABURO(Tokyo Inst. of Technol. Fac. of Eng.) FUKUSHIMA YOSUKE(Natl. Space Dev. Agency of Jpn.) |
Journal Title;Proceedings of the Space Sciences and Technology Conference
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Journal Code:S0277A
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ISSN:
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VOL.43rd;NO.;PAGE.31-36(1999)
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| Figure&Table&Reference;FIG.13, TBL.1, REF.8 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;The berthing of an object such as damaged or uncontrolled satellite is one of important tasks for a space robot. The Japanese space agency NASDA performed some berthing experiments of a target satellite, which has a large weight and a flexible solar paddle, using a robotic arm mounted on Engineering Test Satellite-VII(ETS-VII). Considering manipulability of the robotic arm, the berthing with some repeated stop/move motion follows flexible vibration caused by joint flexibility. Then the natural frequency of the total robotic arm transits according to its configuration changes with the inertial parameter variations. This means that there is a possibility of resonance between the arm vibration and the flexible paddle vibration, further this may arise to disturb the satellite attitude. Thus, it is necessary to investigate the influences of the arm vibration during a berthing, and some safety arm path planning. In this paper, the authors evaluate the robotic arm vibration due to berthing through data analyses from ETS-VII experiments and numerical simulations using multibody dynamics program DADS. (author abst.) |
