日本工程试验卫星-7（ETS-Ⅶ）于1997年11月发射,成功完成在轨交会对接与空间自动机试验。ETS-Ⅶ使用GPS、激光交会雷达和邻近敏感器进行了2次V-bar与1次R-bar空间交会对接试验。空间自动机试验应用2m长的6自由度自动臂,试验项目包括卫星捕获与停靠,遥控操作,自动臂服务作业,以及卫星姿态与自动臂的协调控制。ETS-Ⅶ研发的技术在H-Ⅱ转移飞行器（HTV）飞行使命中得到应用。HTV是通往＂国际空间站＂的无人自动货运飞船系列,HTV-1与HTV-2分别于2009年9月与2011年1月发射。HT%The Japanese Engineering Test Satellite VII（ETS-Ⅶ） was launched in November 1997 to conduct the rendezvous docking（RVD） and space robot（RBT） technology experiments.Three RVD experiments（FP-1,FP-2 for V-bar approach,and FP-6 for R-bar approach） were carried out by ETS-Ⅶ,using Global Positioning System（GPS）,rendezvous radar（RVR）,and proximity sensor（PXS）.The RBT experiments with a 2 meter-long,6 DOF manipulator arm aim at developing the technology for the space robot on an unmanned spacecraft which can be teleoperated from a ground station.The RBT experiments include capture and berthing of a target satellite as well as teleoperation,robotic servicing tasks,and coordinated control of satellite attitude and robot arm.The technologies developed through the ETS-Ⅶ project have been applied to the H-ⅡTransfer Vehicle（HTV）.HTV-1 and HTV-2 were launched in September 2009 and in January 2011,respectively.HTV is an automated unmanned cargo transport system to the International Space Station（ISS）,performing R-bar approach and capture-berthing with the ISS robotics arm（SSRMS）.RBT technology also makes HTV have the ability to carry unpressurized cargo in addition to the pressurized cargo.As a visiting vehicle to manned ISS,HTV can meet the requirements of the one-fail operable（1FO） and two-fail safe（2FS）,using redundancy technology and safety management functions such as fault detection,isolation and recovery（FDIR） and mission abort control.
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