Hardware Experiments of Autonomous Space Robot – A Demonstration of Truss Structure Assembly –
Kei Senda*, Yoshisada Murotsu**, Akira Mitsuya***, Hirokazu Adachi****, Shin'ichi Ito****, and Jynya Shitakubo****
*Graduate School of Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Sakai, Osaka 599-8531, Japan
**Professor Emeritus of Osaka Prefecture University and President of Osaka Prefectural College of Technology
***Former Research Associate, Osaka Prefecture University
****Former Graduate Students, Osaka Prefecture University
This paper addresses an experimental system simulating a free-flying space robot, which has been constructed to study autonomous space robots. The experimental system consists of a space robot model, a frictionless table system, a computer system, and a vision sensor system. The robot model composed of two manipulators and a satellite vehicle can move freely on a two-dimensional planar table without friction by using air-bearings. The robot model has successfully performed the automatic truss structure construction including many jobs, e.g., manipulator berthing, component manipulation, arm trajectory control avoiding collision, assembly considering contact with the environment, etc. The experiment demonstrates the possibility of the automatic construction and the usefulness of space robots.
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