Development of a robotic gravity compensation system for the prototype test of spacecraft

摘要

In this study, we propose a prototype test system for variable flexible spacecraft using multi mobile robots. The system is designed for gravity compensation of the prototype model of spacecraft which has deployable membrane structures or flexible structures. The system is composed of multi robots. The robot is controlled by the force control to support the structures as well as the decentralized autonomous control. The validity of the proposed system is verified by hardware experiments.