Name
Abstract | ||
|---|---|---|
We conducted a micro-gravity flight experiment on a space robotic arm, which is a part of the Reconfigurable Brachiating space Robot (RBR) unit arm developed by the authors. We used a 4-d.o.f. arm and an end-effector in the experiment. The airplane (MU-300) generates the microgravity environment for approximately 20 s in parabolic flight operation. After the flight, we conducted the corresponding ground experiments, and obtained the data of the motor current, servo control characteristics and manipulation performances, which were compared with the flight experiment data. Then, we conducted the numerical analysis of the 4-d.o.f. RBR arm based on the experiment results. In the analysis, we investigated feasibility of simulation model and identified model parameters. In this paper, we report the results of the flight experiments and numerical analysis. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1163/156855304322972431 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
space robotic arm,reconfigurable brachiating space robot (RBR),flight experiment,micro-gravity,numerical analysis | Flight experiment,Robotic arm,Simulation,Airplane,Aerospace engineering,Control engineering,Servo control,Engineering,Robot,Numerical analysis,Parabola | Journal |
Volume | Issue | ISSN |
18 | 3 | 0169-1864 |
Citations | PageRank | References |
13 | 1.23 | 1 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hirokata Sawada | 1 | 13 | 1.23 |
| Kyoichi Ui | 2 | 13 | 1.23 |
| Makoto Mori | 3 | 13 | 1.23 |
| Hiroshi Yamamoto | 4 | 13 | 1.23 |
| Ryoichi Hayashi | 5 | 13 | 1.91 |
| Saburo Matunaga | 6 | 22 | 5.58 |
| Yoshiaki Ohkami | 7 | 26 | 6.94 |