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Space Robotics for Orbital Operation and Surface Exploration

Kazuya Yoshida  
【摘要】:正In this talk,several topics around space robotics research are introduced.Application fields of space robots are broad,but roughly divided into two regions;orbital operation and surface exploration.As for the orbital operation,free-flying robots have received increased interest.The idea to conduct servicing missions onto existing satellites has been discussed since 80's. However,the opportunity of in-flight demonstration of such technology is limited.Two well-known examples are ETS-Ⅶmission(Orihime Hikoboshi) in Japan,1997-1999[1]and Orbital Express,U.S.A.,2007.In both missions,autonomous rendezvous/docking and manipulator operation for looking around the spacecraft surface,exchanging on-board components, and transferring liquid fuel are demonstrated.In both missions,soft docking and manipulator berthing experiments were conducted with a stabilized (cooperative) target.However,in practical cases,unstabilized (non-cooperative) targets must be handled.In this talk,technical issues for future challenges are discussed from the viewpoint of dynamics and control of free-floating systems[2].

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