| Volume 22 Issue 5 - Publication Date: 1 May 2003 |
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| Engineering Test Satellite VII
Flight Experiments For Space Robot Dynamics and Control: Theories on Laboratory
Test Beds Ten Years Ago, Now in Orbit |
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| Kazuya Yoshida Department
of Aeronautics and Space Engineering, Tohoku University, Sendai, 980-8579,
Japan |
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| The Engineering Test Satellite
VII (ETS-VII), an unmanned spacecraft equipped with a 2-m long, six-degree-of-freedom
manipulator arm, was developed and launched by the National Space Development
Agency of Japan (NASDA). ETS-VII has successfully carried out a variety
of on-board experiments with its manipulator arm, and these key technologies
are essential for an orbital free-flying robot. These results will provide
a solid basis for future satellite servicing missions. This paper highlights
manipulator control utilizing the concepts of the generalized Jacobian matrix
and the reaction nullspace. These concepts have been proposed and discussed
for the past ten years using laboratory test beds, and their practical application
has now been demonstrated in orbit. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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Extension |
Type |
Description |
| 1 |
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Example
One: Target capture experiments carried out with a horizontal
free-floating test bed, EFFORTS (1987, at Tokyo Institute of Technology).
The first is the experiment to reach a static target which corresponds
to Fig. 2 (b). The second is the experiment to chase a moving target
with visual servo using a ceiling camera. (15.0 MB) |
| 2 |
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Example
Two: Demonstration of the conventional manipulation and the reactionless
manipulation using a test bed for flexible-base manipulator, TREP
(1996, Tohoku University). Experiment 1 corresponds to Fig. 4 (a).
Experiment 2 corresponds to Fig, 4 (b). (5.4 MB) |
| 3 |
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Example
Three: Operation of the ETS-VII. Two different views of on-board
cameras, a ground track of the orbit, and real-time simulation (1999,
NASDA). The top right image corresponds to Fig. 6. (13.0 MB) |
| 4 |
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Example
Four: Simulation of target capture operation by a combination
of the RNS-based reactionless manipulation for the initial approach
and the GJM-based inertial manipulation for the final approach. The
motion corresponds to Fig. 14. (4.8 MB) |
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