| 摘要 |
PROBLEM TO BE SOLVED: To provide a practical planning method as an attitude controlling method using operation of driving joints inherent in a robot, without requiring limited fuel or an additional device. SOLUTION: In the attitude controlling of a floating type space robot changing a base position and an attitude by reaction of arm action, any two of n pieces (n≥2) of the driving joints possessed by a robot arm are selected as joints for controlling the attitude (changing a direction), and the remaining joints are fixed at a reference value when controlling the attitude. Action of two joints are calculated from combination of three closing paths and an opening path connecting these closing paths a joint plane surface. COPYRIGHT: (C)2004,JPO&NCIPI
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