著者

町田 和雄 戸田 義継 森谷 正義 津田 直純 秋田 健三

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.18, no.3, pp.444-452, 2000-04-15

参考文献数

11

被引用文献数

5

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This paper presents the space test of the ARH (Advanced Robotic Hand System), which is the world's first precise extravehicular robot aboard the satellite“Hikoboshi”. The telerobotic system has features of dexterity, autonomy and flexible operability, using a three-finger multisensory hand at a work site in space and a computer-graphics-based desktop interface at an operation site on the ground. The concept of sensor-fused telerobotics utilizing multisensory information is introduced, and the system is implemented to perform high precision tasks under the barrier of inter-satellite space communication. The robot system was launched into low earth orbit, and the capability of sensor-fused telerobotics was successfully demonstrated in precise in-orbit servicing.

著者

町田 和雄 三上 龍男 秋田 健三

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.17, no.4, pp.577-586, 1999-05-15 (Released:2010-08-25)

参考文献数

10

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Space robots performing precise servicing tasks in unmanned facilities will be indispensable in space activity of the 21st century. This paper presents the development of a precise telerobotic system which is the world's first precise extravehicular robot aboard the satellite, ETS-VII. The robot has the features of skill and autonomy for handling various parts in space through a three-finger multisensory hand. Firstly, we discuss the requirements for in-orbit precise servicing by a robot and system constraints to integrate into the satellite, and present the total system design for space telerobotic experiment. Secondly, we describe the design of robot mechatronics adapt to space use. The launch lock mechanisms and reconfiguring method of the robot in orbit are also described. Thirdly, an architecture and design of the onboard control computer system to manage various tasks flexibly and safely are presented. Finally, the multisensory based control for precise task execution and development result of the flight model are presented. The system was launched, and initial checkout reveals the system works well in-orbit.