Distributed Control of Floating Space Robot Manipulators

在未来的空间探索或空间开发中，预计带有机械手的空间机器人将代表人类宇航员从事危险的工作。本项目研究的是控制方法的发展，通过这种方法可以对一些空间机械臂进行分布式控制。该方法具有如下优点：(1)即使改变机器人的数目，也不改变机器人的控制算法；(2)该方法的计算时间不依赖于机器人的数目，这些性质不仅可以在理论上得到验证，还可以用我们制作的模拟器进行实验验证。这里研究了两种类型的机器人系统：一种是多个机械手并联抓取物体的系统(我们称之为并联机器人系统)，另一种是多个机械手串联抓取物体的系统(串联式机器人系统)。此外，本课题还开展了以下几个方面的研究工作：(1)基于广义逆矩阵转置的空间机器人机械手的研制；(2)水下机器人机械手控制方法的发展；(3)部分机器人的控制。我们希望通过整合本项目研究中获得的知识和经验，提高带机械手的漂浮机器人的能力。

In future space explorations or space developments, it is expected that space robot with manipulators will do risky works on behalf of human astronauts. This project research deals with development of control methods, by which some space manipulators are controlled in distributed form. This method has some advantage properties ;(1) Even if a number of robots is changed, the control algorithm of the robot is not changed.(2) Calculation time by this method does not depend to the number of the robots.These properties could be verified not only theoretically but also experimentally using simulator made by us. Here, two type robot systems are examined ; one of them is a system in which some robot manipulators grasp an object in parallel (we call this parallel robot system), another is one in which they grasp in series (series robot system). In both systems, theses properties can be confirmed to be kept.Moreover, in this project, the following sub-researches were done ;(1) Development of space robot manipulators using transpose of generalized inverse matrix(2) Development of control methods of underwater robot manipulator(3) Control of some robotsThese researches also gave important knowledge and valuable experimental data to us. We would like to enhance the abilities of the floating robot with manipulators by integrating knowledge and experience obtained in this project research.