NDLI: Launching penetrator by casting manipulator system

Content Provider	IEEE Xplore Digital Library
Author	Arisumi, H. Otsuki, M. Nishida, S.
Copyright Year	2012
Description	Author affiliation: Intelligent Systems Research Institute of the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Ibaraki 305-8568, Japan (Arisumi, H.) \|\| Japan Aerospace Exploration Agency (JAXA), 3-1-1 Yoshinodai, Chuoku, Sagamihara, Kanagawa 252-5210, Japan (Otsuki, M.; Nishida, S.)
Abstract	Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we discuss launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator, we propose the motion control of the boom to reduce the error. Finally, we develop the system and verify the effectiveness of the proposed method through experiment.
Starting Page	5052
Ending Page	5058
File Size	988924
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386078
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Wires Timing Moon Manipulators Casting penetrator space robotics manipulation launching
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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