PRECISE ASSEMBLY BY AUTONOMOUS SPACE ROBOT USING SKILL ACQUISITION LEARNING

摘要

This paper describes the development of precise assembly technology by autonomous space robots. We clarified the most fundamental requirements for space robots, and then discussed the implementation of them especially for the precise assembly tasks. We examined a practical way of skill acquisition in space, and adopted a heuristic searching and a simple learning technology. Through the assembly experiments by a robot arm, we demonstrated the availability of our method and control strategy. In this paper, we also described the CellSat, the target object of the assembly, and its assembly system. The development of our precise control skill enhances the feasibility of the CellSat system, and contributes to the precise assembly tasks in space by autonomous robots.