| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for controlling an attitude of an apparatus coupled to a tether which can actively and continuously control the apparatus coupled to the tether edge, can make the attitude of the apparatus an arbitrary attitude, and can efficiently and highly precisely control the attitude of the apparatus only by the information obtained from a sensor provided on the apparatus. SOLUTION: The apparatus is coupled to the edge of the tether 1, and equipped with an intermediate member 12 and an edge member 11 which are swingably coupled respectively by a rotary joint 13. The attitude control system controls the attitude of the edge member 11 by swinging the intermediate member 12 relative to the edge member 11, and the rotary joint 13 is disposed so that the center coincides with a mass center of the edge member 11. If torque is applied on the apparatus by the tension generating in the tether 1 when the attitude of the edge member 11 changes, the attitude control system makes the intermediate member 12 swing relative to the edge member 11 so that the damping torque around the rotary axis of the torque is applied relative to the rotary joint 13. COPYRIGHT: (C)2005,JPO&NCIPI
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