HUGE-OBJECT MANIPULATION IN-SPACE BY VEHICLE-TYPE ROBOTS

Previous studies on space robots have assumed a relatively small objec t as the manipulated target, but in space, a target object can be rela tively large, e. g., a space station or a solar-powered satellite. In these cases, manipulation by several vehicle-type robots or vehicles, hereafter, which have thrust engines is superior to that by arms mount ed on spacecraft. In manipulation by vehicles, fuel consumption in a t hrust engine is related to the norm of force generated by the vehicle. The norm of the force depends on the positions of contact points. The refore, contact points of the vehicles are important in view of the fu el consumption. In this paper, the optimal contact points are defined as the points which minimize the norm of force needed for the accelera tion of the target object or maximize DMM (dynamic manipulability marg in) according to the nature of the task. Experiments to verify the val idity of this optimal contact points determination method will also be shown.