| タイトル | Experiments in global navigation and control of a free-flying space robot |
| 著者（英） | Ullman, M.; Cannon, R. H., Jr. |
| 著者所属（英） | Stanford Univ. |
| 発行日 | 1989-01-01 |
| 言語 | eng |
| 内容記述 | This paper reviews initial work at the Stanford University Aerospace Robotics Laboratory (ARL) in developing and controlling a free-flying space robot. The objective of this project is to develop a laboratory version of a space robot that is capable of performing target tracking, acquisition, and manipulation. In particular, this paper focuses on the problems associated with capturing a free-floating object that is initially out of reach of the robot. A set of rules is presented for generating an appropriate intercept trajectory. A controller architecture suitable for carrying out these motions is also described. Finally the results of computer simulations illustrating the behavior of these algorithms are shown along with a description of the physical hardware on which they will be tested. |
| NASA分類 | MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT |
| レポートNO | 91A38747 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/347952 |
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