POSITION AND POSTURE CONTROL DEVICE AND POSITION AND POSTURE CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To carry out position and posture control of a floating body capable of small sharp turns and to carry out the position and posture control of the floating body moving while maintaining the same posture not only in one direction but also in other various directions.;SOLUTION: This position and posture control device is furnished with six thrust generators 14 to respectively generate thrust, and any one of the thrust generators 14 is set to generate the thrust in different directions. Each of the thrust generators 14 is positioned so that a virtual straight line 30 extending in the thrust direction crosses with the virtual straight line 30 extending in the thrust direction of the neighboring thrust generator 14 on two virtual flat surfaces vertical with a virtual axis 40, an intersection point of the virtual straight line 30 on one of the virtual flat surfaces comes to be at each of top point positions of an equilateral triangle at a position of a center of gravity on the virtual axis 40 and an intersection point of the virtual straight line 30 on the other virtual flat surface comes to be at each of the top point positions of the equilateral triangle at the position of the center of gravity on the virtual axis 40.;COPYRIGHT: (C)2007,JPO&INPIT