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JRM Vol.12 No.4 pp. 371-377
doi: 10.20965/jrm.2000.p0371
(2000)

Paper:

Precise In-Orbit Servicing by Multisensory Hand-Connected with Long Arm

Kazuo Machida*, Yoshitsugu Toda* and Mitsushige Oda**

*Electrotechinical Laboratory, MITI, 1-1-4 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

**National Space Development Agency of Japan, 2-1-1 Sengen, Tsukuba, Ibaraki, 305-8505, Japan

Received:
December 15, 1999
Accepted:
April 11, 2000
Published:
August 20, 2000
Keywords:
Space robot, Macro-micro manipulator, In-orbit Servicing, Multisensory hand, Sample retrieving
Abstract

This paper presents the space experiment of in-orbit servicing from a chaser satellite to a target satellite, using a multisensory hand connected with a long arm. The experiment is carried out to acquire the technology that enables a long robot arm to perform highprecision tasks through the smart hand. A three-finger multisensory hand, ARH (Advanced Robotic Hand), is connected to the 2.4m length manipulator arm, ERA (ETS RobotArm), in orbit, and sample retrieving from “Orihime” to “Hikoboshi” is achieved in this configuration. The work environment is measured by sensor fusion of the range sensors, hand-eye camera and contact sensors, and the world model is precisely calibrated before the task. The sample retrieving is successfully performed due to the position/force hybrid control of the arm and fine compensation by the hand mechanism under multisensory monitoring.

Cite this article as:
Kazuo Machida, Yoshitsugu Toda, and Mitsushige Oda, “Precise In-Orbit Servicing by Multisensory Hand-Connected with Long Arm,” J. Robot. Mechatron., Vol.12, No.4, pp. 371-377, 2000.
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