A Ground-Based Operation System for EVA Support Robot Experiments
نویسنده
چکیده
Japan Aerospace Exploration Agency (JAXA) is developing space robotic technologies to realize a robot to support manned space activity. JAXA plans to conduct a robot experiment to demonstrate locomotion strategy using tethers and an extendable robotic arm with a robotic hand on the International Space Station, Japanese Experiment Module Exposed Facility (JEM-EF) in fiscal year 2011. The experiment (REXJ: Robot Experiment on JEM) will be controlled remotely from a ground-based operation system in JAXA Tsukuba Space Center. The operational system is required to have high safety and reliability to achieve the experiment successfully. In this paper, we report a progress of developing the ground-based operation system for REXJ.
منابع مشابه
A Comparison of Underground Opening Support Design Methods in Jointed Rock Mass (TECHNICAL NOTE)
It is of great importance to consider long-term stability of rock mass around the openings of underground structure, during design, construction and operation of the said structures in rock. In this context, three methods namely, empirical, analytical and numerical have been applied to design and analyze the stability of underground infrastructure at the Siah Bisheh Pumping Storage Hydro-Electr...
متن کاملEnergy Dissipation Rate Control Via a Semi-Analytical Pattern Generation Approach for Planar Three-Legged Galloping Robot based on the Property of Passive Dynamic Walking
In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...
متن کاملExperimental Study for Dual-Manipulator-Based Operation of Floating Massive Payload
A robot satellite with dual-manipulators is one of the choices to operate payload in orbit, for example, to capture or deorbit damaged satellites. We have constructed a ground experiment simulator system including two 7-degree-of-freedom (DOF) manipulators as a chaser satellite model and floating testbeds on a flat floor as target satellite models. This system is a tele-operation ground experim...
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملNon-gravity Under-actuated Control Methods of Tether Based Locomotion for Astronaut Support Robot
JAXA studies the new locomotion concept using tethers for the requests of unmanned support system for astronauts and the robot demonstration on the orbit will be planned in 2012, called Robot Experiment on JEM/ISS (REX-J). This paper introduces the details of REX-J project and explains the proposal locomotion method called the tether based locomotion. The tether based locomotion is defined as a...
متن کامل