TRANSLATION MOVEMENT SYSTEM OF FLOATING ARTICLE, TRANSLATION MOVEMENT CONTROLLER FOR FLOATING ARTICLE AND TRANSLATION MOVEMENT METHOD OF FLOATING ARTICLE

摘要

To cause a floating article to translation move by stabilizing a posture of the floating article in a space.SOLUTION: The invention is configured so that, a plurality of thrust generators 5 on which a sensor 53 is mounted for detecting a self-position, a posture and acceleration are adhered to a floating object 3, and the plurality of thrust generators 5 subsequently generate thrust for measurement. Then, based on a rotary direction and an acceleration amount of a rigid body 9 when the thrust for measurement is generated subsequently, a mass, a centroid G and an inertia moment of the rigid body 9 are identified. Therefore, thrust for every thrust generator 5 for generating thrust F for translation movement of a vector penetrating the centroid G of the rigid body 9 identified by combining thrust of respective thrust generators 5 whose postures are detected by the sensors 53, can be determined by a measurement/control unit 7.SELECTED DRAWING: Figure 8