Title:
SPACE ROBOT CONTROL DEVICE, SPACE ROBOT, SPACE ROBOT CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2024/038611
Kind Code:
A1
Abstract:
A space robot control device (1A) that controls a space robot (100) which performs, on a spacecraft (200) in motion in outer space, a motion damping operation for damping the motion of the spacecraft (200) by means of a manipulator comprises: a parameter setter (14) which, by using second sensor information indicating detection values of the internal state of the space craft and the state of the external environment, sets parameters necessary to control the manipulator when performing the motion damping operation; an impact force model regulator (15) that generates an impact force model which defines an impact force occurring when the motion damping operation is performed by the manipulator, on the basis of first sensor information indicating a detection value of the internal state of the manipulator, third sensor information indicating detection values of the internal state of the space robot and the state of external environment, and the second sensor information; and a model prediction controller (16A) that, by using the parameters and the impact force model, generates a joint torque command which is to be provided to a joint of the manipulator for performing the motion damping operation and outputs the joint torque command to the manipulator.
Inventors:
IMAMURA NAOKI (JP)
OHTSUKA TOSHIYUKI (JP)
OHTSUKA TOSHIYUKI (JP)
Application Number:
PCT/JP2022/031457
Publication Date:
February 22, 2024
Filing Date:
August 19, 2022
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J13/00
Foreign References:
| JP2005014192A | 2005-01-20 | |||
| JPH05104469A | 1993-04-27 | |||
| JP2001301699A | 2001-10-31 | |||
| JP2003326485A | 2003-11-18 | |||
| US20060145024A1 | 2006-07-06 | |||
| US20210042522A1 | 2021-02-11 |
Attorney, Agent or Firm:
KIMURA Mitsuru (JP)
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