公开(公告)号：JP2001301699A

公开(公告)日：2001-10-31

申请号：JP2000119851

申请日：2000-04-20

Applicant: NAT SPACE DEV AGENCY

Inventor： WAKABAYASHI YASUSHI ,  MATSUMOTO SHUICHI ,  WATANABE YASUYUKI ,  UENO HIROSHI ,  ODA MITSUSHIGE ,  KONO ISAO

IPC: B64G1/64 ,  B25J11/00 ,  B25J13/00 ,  B25J19/00 ,  B64G1/24 ,  B64G1/66 ,  G01S19/02 ,  G01S5/14

Abstract: 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.

公开(公告)号：JPH09240599A

公开(公告)日：1997-09-16

申请号：JP8047596

申请日：1996-03-11

Applicant: NAT SPACE DEV AGENCY

Inventor： AOKI HIROSHI ,  MATSUMOTO SHUICHI

IPC: B64G1/24 ,  F02K9/80

Abstract: PROBLEM TO BE SOLVED: To provide a rocket control method by the adjustment of thrust of an engine, by which three-axis attitude control and main thrust control can be independently performed without any oscillating device. SOLUTION: First to fourth variable thrust rocket engines 1 to 4 are arranged by offsetting thrust acting points of respective engines from a machine body axis at equal distances so that respective acting points may be symmetric at the distance of 90 deg., and thrust shafts are fixed by being inclined in relation to the machine body axis so that thrust may be generated clockwise in the first and third engine groups 1, 3, and that thrust may be generated counterclockwise in the second and fourth engine groups 2, 4. Therefore, three-axis attitude control and main thrust control in the machine axial direction can be independently performed by selective and uniform thrust control of respective variable thrust rocket engines.

公开(公告)号：JPH0958597A

公开(公告)日：1997-03-04

申请号：JP21481295

申请日：1995-08-23

Applicant: NAT SPACE DEV AGENCY ,  MITSUBISHI HEAVY IND LTD

Inventor： MATSUMOTO SHUICHI ,  KITO KATSUMI

IPC: B64G1/26

Abstract: PROBLEM TO BE SOLVED: To perform automatic high-precise vertical landing even when disturbance is present by a method wherein when a flying object, such as a rocket, is vertically landed on a ground or a surface of a heavenly body from a space, a control command for engine thrust and a direction is outputted based on the present position, the speed, and acceleration of a machine body. SOLUTION: During flying of a flying object, a first command generating part 60 input an indication signal from a processing mode indication part 2 to select one of a landing mode, a space stop mode, and a transition operation mode, a set signal from a target state setting part 3, a signal for the position, the speed, and acceleration of the flying object from a movement state detecting part 20 and outputs a command signal. Further, a second command generating part 70 inputs signals from acceleration command generating parts 4 and 5 for landing control and space stop control and a signal from a machine body mass estimating part 8 and outputs a command signal. Commands from the command generating parts 60 and 70 are repeatedly executed at intervals of a given time by a switcher S9, and a thrust command for a present engine and a thrust direction command are varied.