Capturing simulation of space debris with super multi-link space manipulator

Shunsuke Kuroda, Takehiro Higuchi, Yoshito Tsujimoto, Seiya Ueno

Abstract

Space debris became one of the difficulties for mankind to utilize the space environment. Among the variable efforts to the debris problem, the development of technology for the active debris removal (ADR) is especially imperative. This paper is on the motion simulation of debris capture manipulator for ADR with large number of links. Light weight actuator using hydrogen storage alloy is developed for use in outer space as an actuator for the manipulator. The controllable time with the extended resolved motion rate control was examined past study. In this paper, to research the movement of the debris in the end-effector, the simple random collision model was established. Based on the results from this model, the aspects for the control of the end-effector to lower the relative velocity of debris in the controllable time is shown.

Original languageEnglish
Title of host publication2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages660-666
Number of pages7
ISBN (Electronic)9784907764500
DOIs
StatePublished - 2016 Nov 18
Event55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan

Other

Other55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
CountryJapan
CityTsukuba
Period16/9/2016/9/23

Fingerprint

Debris
Manipulators
Space debris
End effectors
Actuators
Removal
Hydrogen storage alloys

Keywords

  • debris capture
  • extended resolved motion rate control
  • random collision model
  • space manipulator

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Control and Systems Engineering

Cite this

Kuroda, S., Higuchi, T., Tsujimoto, Y., & Ueno, S. (2016). Capturing simulation of space debris with super multi-link space manipulator. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. (pp. 660-666). [7749278] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/SICE.2016.7749278

Capturing simulation of space debris with super multi-link space manipulator. / Kuroda, Shunsuke; Higuchi, Takehiro; Tsujimoto, Yoshito; Ueno, Seiya.

2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 660-666 7749278.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kuroda, S, Higuchi, T, Tsujimoto, Y & Ueno, S 2016, Capturing simulation of space debris with super multi-link space manipulator. in 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016., 7749278, Institute of Electrical and Electronics Engineers Inc., pp. 660-666, 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016, Tsukuba, Japan, 20-23 September. DOI: 10.1109/SICE.2016.7749278
Kuroda S, Higuchi T, Tsujimoto Y, Ueno S. Capturing simulation of space debris with super multi-link space manipulator. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc.2016. p. 660-666. 7749278. Available from, DOI: 10.1109/SICE.2016.7749278

Kuroda, Shunsuke; Higuchi, Takehiro; Tsujimoto, Yoshito; Ueno, Seiya / Capturing simulation of space debris with super multi-link space manipulator.

2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 660-666 7749278.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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