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Proceedings Paper

Decentralized kinematics algorithm for modular space robots
Author(s): Shinichi Kimura; Shigeru Tsuchiya
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Paper Abstract

The Communications Research Laboratory has been studying the inspection technology needed for the first step of an Orbital Maintenance System (OMS) for maintaining space systems by inspecting satellites, re-orbiting useless satellites, and simply repairing satellites in orbit. OMS will use a modular manipulator for remote inspection. One of the most important issues concerning control of the modular manipulator is a determination process that utilizes its decentralized control architecture. In this paper, we introduce a decentralized kinematics control algorithm that automatically adapts to partial faults and reconfigures itself.

Paper Details

Date Published: 16 October 2000
PDF: 8 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403740
Show Author Affiliations
Shinichi Kimura, Communications Research Lab. (Japan)
Shigeru Tsuchiya, Communications Research Lab. (Japan)

Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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