No abstract

No abstract

A robot satellite with dual-manipulators is one of the choices to capture damaged satellites in orbit. We have constructed a ground experiment simulator system including two 7-degree-ofifreedom (DOF) manipulators as a chaser satellite model and floating testbeds on a &' at 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 damage satellite model system. Using this system, we will study on feasible capturing and berthing methods of damaged satellites using dual-manipulators. In this paper, we explain the detailed description of the system and report the results of fundamental capture experiments.simulated robot (chaser) satellite and a floating testbed is a simulated target satellite. This system can simulate dynamics of the target satellite constraining on two-dimensional space in micro-gravity environment, and gives us strategies and approaches to capture damaged satellites in space using the dual-manipulator as an example of in-orbit services. In this paper, we explain the hardware of this experiment system and motion control of the dual-manipulator, and examine the possibility of automatic satellite capturing method using camera images through fundamental capture experiments.

No abstract

No abstract