The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris
Space debris became one of the difficulties for mankind to utilize the space environment. Among the variable efforts to the debris problem, the development of technology for the active debris removal (ADR) is especially imperative. This paper is on the motion simulation of debris capture manipulator...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2017-05-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.9746/jcmsi.10.229 |
| _version_ | 1797661081294864384 |
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| author | Shunsuke Kuroda Takehiro Higuchi Yoshito Tsujimoto Seiya Ueno |
| author_facet | Shunsuke Kuroda Takehiro Higuchi Yoshito Tsujimoto Seiya Ueno |
| author_sort | Shunsuke Kuroda |
| collection | DOAJ |
| description | Space debris became one of the difficulties for mankind to utilize the space environment. Among the variable efforts to the debris problem, the development of technology for the active debris removal (ADR) is especially imperative. This paper is on the motion simulation of debris capture manipulator for ADR with large number of links. A lightweight actuator using hydrogen storage alloy is developed for use in outer space as an actuator for the manipulator. The controllable time with the extended resolved motion rate control was examined in the past study. In this paper, to research the motion of the debris in the interaction with the end-effector, a simple collision model for the special end-effector was established. The control law to lower the relative velocity after the impact is brought in, and the results have shown almost 90% of reduction regardless of the initial velocity of moving target debris. The proposed system will enable the system to capture the target debris more safely. |
| first_indexed | 2024-03-11T18:39:10Z |
| format | Article |
| id | doaj.art-d11f8860aede48c9a316ec14b603358c |
| institution | Directory Open Access Journal |
| issn | 1884-9970 |
| language | English |
| last_indexed | 2024-03-11T18:39:10Z |
| publishDate | 2017-05-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj.art-d11f8860aede48c9a316ec14b603358c2023-10-12T13:43:54ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702017-05-0110322923610.9746/jcmsi.10.22912103134The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space DebrisShunsuke Kuroda0Takehiro Higuchi1Yoshito Tsujimoto2Seiya Ueno3Graduate School of Environment and Information Sciences, Yokohama National UniversityFaculty of Environment and Information Sciences, Yokohama National UniversityGraduate School of Environment and Information Sciences, Yokohama National UniversityFaculty of Environment and Information Sciences, Yokohama National UniversitySpace debris became one of the difficulties for mankind to utilize the space environment. Among the variable efforts to the debris problem, the development of technology for the active debris removal (ADR) is especially imperative. This paper is on the motion simulation of debris capture manipulator for ADR with large number of links. A lightweight actuator using hydrogen storage alloy is developed for use in outer space as an actuator for the manipulator. The controllable time with the extended resolved motion rate control was examined in the past study. In this paper, to research the motion of the debris in the interaction with the end-effector, a simple collision model for the special end-effector was established. The control law to lower the relative velocity after the impact is brought in, and the results have shown almost 90% of reduction regardless of the initial velocity of moving target debris. The proposed system will enable the system to capture the target debris more safely.http://dx.doi.org/10.9746/jcmsi.10.229debris capturespace manipulatorfingers sphere modelextended resolved motion rate control |
| spellingShingle | Shunsuke Kuroda Takehiro Higuchi Yoshito Tsujimoto Seiya Ueno The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris SICE Journal of Control, Measurement, and System Integration debris capture space manipulator fingers sphere model extended resolved motion rate control |
| title | The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris |
| title_full | The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris |
| title_fullStr | The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris |
| title_full_unstemmed | The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris |
| title_short | The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris |
| title_sort | relative speed control of super multi link space manipulator to capture space debris |
| topic | debris capture space manipulator fingers sphere model extended resolved motion rate control |
| url | http://dx.doi.org/10.9746/jcmsi.10.229 |
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