著者

上野 泰平 小田 光茂

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.28, no.3, pp.349-359, 2010

被引用文献数

8

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International Space Station and other building project in the lower orbit rises the demand of EVA(extra vehicular activity), and due to this, the robots that helps EVA is highly expected. In this paper, we clear the development and designing requests of EVA Supporting Robot and its dexterous hand. The dexterous hand used in the EVA must be small enough to use EVA tools, able to output high grasping power and modularized so that the hand can be exchanged depending on the mission. Following to the requests, we designed a test model of dexterous hand. In this paper, new index robot finger for our dexterous hand is introduced. The finger consists of 1 actuator and 1 passive joint. The architecture and features of this finger are shown in the last half of this paper.

著者

鈴木 悟史 中村 俊之 吉井 正広 中島 正勝 中西 洋喜 本田 瑛彦 小田 光茂

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.79, no.807, pp.4233-4248, 2013 (Released:2013-11-25)

参考文献数

11

被引用文献数

1 1

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Generally, many space satellites have large solar array panels for power generation and large antennas for observation and communication. The panels and antennas must be lightweight because of the payload weight limit of the launch vehicle. So, they are very flexible, with little damping ability. This results in vibrations cause serious problems. When the thermal environment around a flexible structure on orbit such as a solar array panel changes to cold or hot, the flexible structure produces its own deformation or vibration. These occur most often during rapid temperature changes called thermal snap or thermally-induced vibration, which has been known to cause attitude disturbance in Low Earth Orbit (LEO) satellites. Thermal snap vibration occurring on a flexible solar array panel is very slow. It is very difficult to measure thermal snap motion by sensors such as accelerometer. The behavior of a space structure affected by thermal snap has never been observed directly in space so far. This report presents the measurement results of “IBUKI” solar array panel's behavior using monitor camera.

著者

鈴木 悟史 吉井 正広 中西 洋喜 山隅 允裕 小田 光茂 上田 敦史 渡邊 恵佑 加藤 裕基 星 亜友美 西田 信一郎

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.81, no.824, pp.14-00298-14-00298, 2015 (Released:2015-04-25)

参考文献数

15

被引用文献数

2

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Image processing is one of the methods used to measure position/attitude for robot control and there are hopes that it can be applied to space robot missions, including REX-J (Robot EXperiment on ISS/JEM). The REX-J mission involves space robot locomotive function experiments using tethers by JAXA. Measuring the robot's motion accurately is crucial to establishing the new locomotive technology using tethers. With conventional methods, a suitable illumination environment is configured for high-precision image processing and a characteristic marker is attached to the measurement object. However, the two challenges posed for image processing during the REX-J mission are: (1) the illumination of space changes significantly with orbital motion and (2) the robot lacks a characteristic marker. Accordingly, our purpose is to develop a marker less image processing method for the illumination environment of space and measure the robot's position/attitude of the REX-J mission by image processing. The proposed new image processing method involves creating virtual points are created at the intersection of the robot's edge in the image, which are then used as markers for image processing. This method is robust for changes in the illumination environment because it allows the creation of a virtual point, even if the edge is incomplete. The method is applied to the REX-J mission and the measurement accuracy of the robot's position/attitude in the illumination environment of space was confirmed as on the sub-pixel level. Subsequently, the position/attitude of the robot during movement by tethers was measured by image processing. In addition, the error in the robot's position/attitude, as estimated from the length of the tethers, was clarified by the image processing result. Based on these results, the robot's locomotive function by the REX-J mission was verified.