| 摘要 |
PROBLEM TO BE SOLVED: To provide a space robot capable of quickly and accurately performing the service to a target even in the case where it has an unstable attitude, and provide a space maneuver operating system using this space robot. SOLUTION: In the case where a mother ship 12 finds a satellite as a target 13, the mother ship 12 computes the quantity of movement, plans the flight plan, comes close to a point at several meters from the target, and stops for rendezvous. A flying space robot separated from the mother ship 12 performs the light into the target from the stop point. The outgoing space robot estimates an orbit of a wasted satellite as the target, and decides the catching part, and changes the orbit of itself and decides the catching attitude on the basis of these estimation and decision. The space robot performs the guidance and control of end effectors on the basis of a result of computing. Two space robots are combined so as to perform the service for adding a payload to the waste satellite as the target as a mission. The space robots come close to the target, and pinch the payload with a pair of end effectors provided in one end of a manipulator, and hold the target. The space robots cooperate with each other so as to connect the payload to the target. The space robots separate from the target, and return to the mother ship 12.
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