Control apparatus for a space robot

• US 5,390,288 A
• Filed: 05/09/1994
• Issued: 02/14/1995
• Est. Priority Date: 10/16/1991
• Status: Expired due to Term

• Current Assignee: Director-General of the Agency of Industrial Science and Technology, the Ministry of International Trade and Industry of Japan (Government of Japan), Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Director-General of the Agency of Industrial Science and Technology, the Ministry of International Trade and Industry of Japan (Government of Japan), Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Fukuda, Yasushi, Toda, Yoshitsugu
• Primary Examiner(s): MacDonald, Allen R.
• Assistant Examiner(s): Dorvil, Richemond
• Application Number:
  US08/239,931
• Time in Patent Office: 281 Days
• Field of Search: 395/93, 395/98, 395/96, 395/97
• US Class Current: 700/258
• CPC Class Codes: B25J 9/1615 characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B64G 1/244 Spacecraft control systems
• CPC Class Codes: B64G 1/36 using sensors, e.g. sun-sensors, horizon sensors
• CPC Class Codes: B64G 1/646 Docking or rendezvous systems refueling in space B64G1/4024
• CPC Class Codes: B64G 4/00 Tools specially adapted for use in space
• CPC Class Codes: G05B 2219/40275 Manipulator mounted on satellite, space manipulator

Abstract

A control apparatus detects the position and velocity of an artificial satellite by sensors mounted on the satellite, computes tip velocity of a manipulator on the satellite on the basis of detected information items, with considering a variation in position and attitude of the satellite, and enables the manipulator to track a target flying in space. The control apparatus sets an approach maneuver trajectory at the flying target with the use of relative position/attitude information items between a gripper and a corresponding portion of the flying target which are obtained by a proximity sensor. When the flying target is captured by the gripper on the manipulator, the control apparatus detects a force acting upon the manipulator using a force/torque sensor. The target capturing operation is performed by sending command signals to driving motors connected between the shafts of the satellite manipulator.

Claims

1. A control apparatus for controlling a space robot, mounted on an artificial satellite and having a manipulator which has an arm connected to the satellite, and has a gripper connected to the arm to capture a flying target in space having a portion to be grasped by the gripper, comprising:

a first sensor mounted on the satellite to detect a position and velocity of the satellite;

a second sensor mounted on the manipulator to detect a relative position and attitude between the gripper and the flying target;

trajectory generating means for setting a trajectory to allow the gripper to track the flying target based on a result of detection by said first sensor and generating a corresponding operation command of the arm;

a force/torque sensor mounted on the manipulator to detect a force and torque acting on the manipulator;

first driving means for driving the arm so as to track the flying target by the manipulator along the trajectory in space set by said trajectory generating means and position the gripper to the portion of the flying target in consideration of a variation in position of the satellite;

second driving means for driving the gripper so as to locate the gripper, in a position to enable the portion of the flying target to be captured, based on a result of detection by said second sensor; and

third driving means for correcting a position of the manipulator based on a result of detection by said force/torque sensor and for enabling the gripper to perform a capturing operation to the flying target in a modified position.

2. The control apparatus according to claim 1, further comprising means for detecting a relative position and attitude between the flying target and the space robot.

3. The control apparatus according to claim 1, wherein said first driving means comprises means for sequentially setting a target position and tip velocity of the manipulator for predetermined coordinates fixed in space.

4. The control apparatus according to claim 1, wherein said second driving means comprises means for sequentially setting a trajectory of the gripper to a position capable of capturing the flying target in a manner corresponding to a movement of the flying target.

5. The control apparatus according to claim 1, wherein said third driving means comprises means for setting a tip velocity of the manipulator to correspond to a motion involved when a detected force of said force/torque sensor acts upon the flying target.

6. The control apparatus according to claim 1, wherein said third driving means comprises means for setting a target position of the manipulator sequentially to correspond to a motion involved when a detected force of said force/torque sensor acts upon the flying target.

7. A control apparatus for controlling a space robot, mounted on an artificial satellite having an arm-like manipulator with joints including a robot gripper, for capturing a target in space, the target having a gripping portion, comprising:

a position and velocity sensor for generating a first signal representing the position and velocity of the space robot relative to the target;

a proximity sensor mounted on the manipulator for generating a second signal representing position, velocity and attitude of the robot gripper relative to the gripping portion of the target;

a manipulator trajectory generator for generating desired position signals (Apm^d) for the manipulator by processing the first signal when the robot gripper is substantially distant from the gripping portion of the target, and for generating desired position signals (Apm^d) for the manipulator by processing the second signal when the robot gripper is sufficiently close to a gripping position of the target;

means for correcting a variation in position of the satellite due to movement of the manipulator;

a force torque sensor for generating a third signal representing a force and torque of the gripping portion of the target on the manipulator of the robot when the target is grabbed and representing the force and the torque exerted on the manipulator when the manipulator is moved; and

a manipulator tip velocity generator for generating robot manipulator velocity signals (Cvm^d), by processing the desired position signals (Apm^d), translational velocity (Avm^c) of the target, rotational velocity (ω

m^c) of the target, the third signal, a transformation matrix (CT_A) which converts a coordinate system of the satellite (Σ

_A) and a present position (Apm^m) of the manipulator.

8. A control apparatus according to claim 7, further comprising:

a manipulator joint speed generator for generating velocity command values (Σ

c^a) which drive a shaft motor located on one of said joints of the manipulator.

9. A control apparatus according to claim 8 wherein the manipulator tip velocity generator generates the robot manipulator velocity signals (Cvm^d) using the equation:

space="preserve" listing-type="equation">Cvm.sup.d =CT.sub.A (Avm.sup.d -Avm.sup.c)-W Cpm.sup.m ω

m.sup.c,

where W is a constant conversion matrix.