MOVEMENT SIMULATION DEVICE FOR SPACE ROBOT

摘要

PURPOSE:To enable simulation on the ground by providing a means deriving a differential equation to find the centroid position and posture angle of a space robot main body based on a total movement amount retention rule and angular momentum retention rule and an arithmetic means to calculate the centroid position and posture angle of the space robot by using a differential equation. CONSTITUTION:A differential equation to find the centroid position and attitude angle of a space robot main body 3 is derived based on a total movement retention rule and total angle movement amount retention rule by a differential equation deriving means 5. The time series of the centroid position and attitude angle of the space robot main body 3 are calculated by off-line or on-line by using the differential equation. Then, based on this time series data, the centroid position and attitude angle of the space robot main body 3 are interlocked with moving the arm of the space robot 2 and varied by a robot 1 for the ground. The simulation of the three dimensional space of the robot in an agravity space can be performed on the ground like this.