伸展機構?テザーを有するEVA 支援ロボットの位置姿勢制御に関する検討

摘要

A new concept of space robot that moves along a large space structure using extension arm and tethers is proposed.Robot can moves widely by controlling length of extension arm and tethers which are fixed to the space structure. Thisrobot is designed for servicing EVA. In this paper, we explain the idea for position determination and control of thisrobot, and the hardware design for realizing the algorithm.