著者

金子 昌太郎 奥山 淳

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会関東支部総会講演会講演論文集 2019.25 (ISSN:24242691)

巻号頁・発行日

pp.19G02, 2019 (Released:2019-09-25)

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The reaction wheel is a mechanical device for stabilizing the posture of the controlled object by the reaction torque generated when the flywheel is rotated. When applying the reaction wheel to the controlled object, it is necessary to determine the appropriate size of the flywheel, the position to be mounted, the required torque, and so on. However, research on the size and installation position of the flywheel has not been conducted. Therefore, in this study, we construct a model of reaction wheel system on Gazebo which is a 3D dynamic simulator equipped with multiple physical engines. And, we change the various conditions of the flywheel using the model built on Gazebo and consider the influence on posture stability. In addition, by using a robot operating system (ROS) having a coordination function with Gazebo, we control the reaction wheel system on Gazebo.