Developmental Research on Autonomous Space Docking System Using Intelligent Adaptive Structures

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Concerning the autonomous docking system using the intelligent adaptive structures, the following results have been obtained.1. Formulation of a planar docking system model and development of a numerical simulation program (1) Numerical simulation program formulated by Kane' s method (2) Efficient formulation of inverse dynamics by Lagrangian method2. Position measurement and recognition of a target satellite using visual information : (1) Development of a real time position measurement system using a stereo vision (2) Corresponding method for stereo vision and studies of object recognition3. Control of docking (1) Optimal posture of docking system based on virtual mass criteria (2) PD-impedance control (3) Impedance control for redundant systems4. Hardware experiment (1) Construction of hardware model of target satellite and docking system -Planar VGT with six variable length members and end effector -Stereo vision system using visual processing system (2)Verification of hardware model