Experimental Study for Dual-Manipulator-Based Operation of Floating Massive Payload
نویسندگان
چکیده
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 experiment system and consists of the following subsystems: the robot system, vision system, manipulator operating system, ground control system and target satellite model system. Using this system, we will study on feasible operating methods of floating massive payload using dual-manipulators. In this paper, we explain the detailed description of the ground experiment system and report the results of fundamental experiments.
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