Decentralized kinematics algorithm for modular space robots

Shinichi Kimura; Shigeru Tsuchiya

doi:10.1117/12.403740

16 October 2000 Decentralized kinematics algorithm for modular space robots

Shinichi Kimura, Shigeru Tsuchiya

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403740
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

The Communications Research Laboratory has been studying the inspection technology needed for the first step of an Orbital Maintenance System (OMS) for maintaining space systems by inspecting satellites, re-orbiting useless satellites, and simply repairing satellites in orbit. OMS will use a modular manipulator for remote inspection. One of the most important issues concerning control of the modular manipulator is a determination process that utilizes its decentralized control architecture. In this paper, we introduce a decentralized kinematics control algorithm that automatically adapts to partial faults and reconfigures itself.

Citation Download Citation

Shinichi Kimura and Shigeru Tsuchiya "Decentralized kinematics algorithm for modular space robots", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403740

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