Non-gravity Under-actuated Control Methods of Tether Based Locomotion for Astronaut Support Robot
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چکیده
JAXA studies the new locomotion concept using tethers for the requests of unmanned support system for astronauts and the robot demonstration on the orbit will be planned in 2012, called Robot Experiment on JEM/ISS (REX-J). This paper introduces the details of REX-J project and explains the proposal locomotion method called the tether based locomotion. The tether based locomotion is defined as a cable driven parallel manipulator and its control method is discussed. The non-gravity under-actuated control method is focused as a control method for REX-J system and the process is explained. Then the demonstration of the proposal method using the ground test bed for REX-J operation is conducted and the results are shown.
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تاریخ انتشار 2012