著者
小松 督 植之原 道宏 飯倉 省一 三浦 宏文 下山 勲
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.8, no.6, pp.712-720, 1990-12-15 (Released:2010-08-25)
参考文献数
20
被引用文献数
1 3

We developed a two dimensional operation testbed for an autonomous free-flying space robot such as an orbital maneuvering vehicle. This system is named ASROT (Autonomous space robot operation testbed) . Basically, ASROT consists of a satellite robot, a target, a host computer and a planar base. A host computer is only used for observation and data gathering of the system. A satellite robot is a satellite which can establish various tasks with a manipulator. A satellite is 620mm (W) ×805mm (H) ×620mm (L) . Its weight is 120 kg. This system is floating on a planar base using air bearings, and is able to fly around using thrusters for position control and a control moment gyro for attitude control. A manipulator is a flexible arm and 1.4m long. This paper proposes an operating system which is needed for real time autonomous control. A satellite robot installs hardware systems such as vision systems, board computers, image processing units, and software systems such as algorithms for path planning.