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公开(公告)号：JPH0457208B2
公开(公告)日：1992-09-10
申请号：JP13930086
申请日：1986-06-17
Applicant: NAT SPACE DEV AGENCY
Inventor： SHIMODAIRA KATSUYUKI , ICHIKAWA SHINICHIRO , WAKABAYASHI YASUSHI , NAKAMURA HIROYUKI
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公开(公告)号：JPS63154500A
公开(公告)日：1988-06-27
申请号：JP30130886
申请日：1986-12-19
Applicant: NAT SPACE DEV AGENCY
Inventor： WAKABAYASHI YASUSHI , ICHIKAWA SHINICHIRO , ODA MITSUSHIGE , SHIMODAIRA KATSUYUKI
IPC: B64G1/24
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公开(公告)号：JP2000190265A
公开(公告)日：2000-07-11
申请号：JP37588898
申请日：1998-12-21
Applicant: NAT SPACE DEV AGENCY
Inventor： WAKABAYASHI YASUSHI , INABA NORIYASU , SHIMODA TAKAYUKI , OKAMI YOSHIAKI
Abstract: PROBLEM TO BE SOLVED: To provide a reconfiguration type space multiple manipulator system capable of reconfigurating a system as a small type multiple manipulator system capable of operating works in space. SOLUTION: A three three leg manipulator system is so constituted as follows, three pieces of arms 50 in a link formation formed out of two booms 53 to which joint parts 51 are disposed, and of end effector 52 disposed to the other ends of the booms 53 via the joint parts 51, are combined with the combining ports 55 of a robot center part 54 via the end effector 52, and a distributed type control computer capable of carrying out the joint cooperation, an operation monitor, and the system management of an entire robot, including a joint driving circuit, a wireharness and a joint control, is disposed to the inside of each boom 53, and each end factor 52 is equipped with operating fingers, and TV cameras, connectors and the like.
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公开(公告)号：JPH10297557A
公开(公告)日：1998-11-10
申请号：JP12146597
申请日：1997-04-25
Applicant: TOKYO INST TECH , NAT SPACE DEV AGENCY
Inventor： HIROSE SHIGEO , WAKABAYASHI YASUSHI , YOSHIOKA NOBUTO
Abstract: PROBLEM TO BE SOLVED: To improve drivability and storability by turning a driving wheel around a vertical shaft, and installing a braking mechanism selectively controlling it whether being locked at the specified position or not. SOLUTION: An extensive arm 15 is slidden to a fixed arm 13, making an expansion arm 12 into a state of being contracted. A latch pin of an electric locking mechanism is fitted in a hole part of the extensive arm 15, locking it tight. A driving wheel 24 is turned around a vertical shaft 20, storing it at the side of a vehicle body, and it is locked in a storage position by the electric locking mechanism. An expansion motion releases a lockup of a latch pin 17 of the expansion arm 12, pulling up a hoist. The extensive arm 15 is automatically slidden into extension by the force of gravity, thereby holding the extensiveness of the expansion arm 12. The lockup of the vertical shaft 20 is released and the rotative driving wheel 24 is turned around the vertical shaft 20, developing it to the outside of a vehicle body 11, and then this vertical shaft 20 is locked again.
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5.发明专利
公开(公告)号：JPH07248209A
公开(公告)日：1995-09-26
申请号：JP4127794
申请日：1994-03-11
Applicant: NAT SPACE DEV AGENCY , TOSHIBA CORP
Inventor： KUBO TOMOAKI , WAKABAYASHI YASUSHI
Abstract: PURPOSE:To enable speedily measuring the position and attitude of an object to be measured with a small calculation amount by obtaining difference between a position coordinates on the image in reference attitude and that in extracted attitude, and operating the shift amount in the space against the reference attitude of the target. CONSTITUTION:An image processor 12 processes a two-dimensional image output from a camera 3 and extracts the coordinates on the image of the mark provided on a plate on a target 2. An operation part 13 calculates the position coordinates on the image of the each point of the target 2 in the reference attitude state that the target 2 and the camera 3 are facing, and obtains the difference between the position coordinates on the image obtained by the calculation and that extracted with the image processor 12. Further, the operation part 13 read the matrix corresponding to the distance at that moment out of the memory part 14 and calculates the shift amount in the space of the actual attitude from the reference attitude. And the operation result is sent to a robot controller 15 as the measured result of the measuring device 1.
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Patent Agency Ranking
公开(公告)号：JPH07237160A
公开(公告)日：1995-09-12
申请号：JP5101494
申请日：1994-02-25
Applicant: NAT SPACE DEV AGENCY
Inventor： WAKABAYASHI YASUSHI , INABA NORIYASU
IPC: B25J9/16 , G05B19/4155
Abstract: PURPOSE:To substantially dispense with telemetry at normal operation time, and efficiently and safely operate a remote control type robot even under a large communication restriction by monitoring robot operation in real time by an onboard monitoring system on which monitoring data is beforehand loaded. CONSTITUTION:When remote control is performed from an aboveground part on an onboard robot device having an onboard operation system 5 to perform work by a robot 4 in a space platform 3 and an onboard monitoring system 6 to monitor work of the robot 4, transmitting equipment 1 to transmit an actual command, an operation command, monitoring data or the like and telemetry receiving equipment 2 are provided in the aboveground part. After the operation command and the monitoring data are beforehand loaded on the onboard robot device through a communication system, the work of the robot 4 is automatically practiced on the basis of the operation command beforehand loaded according to the actual command, and the robot work is automatically monitored by the monitoring data.
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公开(公告)号：JPS61163100A
公开(公告)日：1986-07-23
申请号：JP399585
申请日：1985-01-16
Applicant: NAT SPACE DEV AGENCY
Inventor： IKEUCHI MASAMI , WAKABAYASHI YASUSHI
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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
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.
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公开(公告)号：JPH01186498A
公开(公告)日：1989-07-25
申请号：JP842288
申请日：1988-01-20
Applicant: NAT SPACE DEV AGENCY
Inventor： SHIMODAIRA KATSUYUKI , ICHIKAWA SHINICHIRO , WAKABAYASHI YASUSHI , NAKAMURA HIROYUKI
Abstract: PURPOSE:To improve reliability by removing a movable part and a sliding part by generating a three-axis control torque by selectively changing the optical characteristics of the surface element divided in the vertical and horizontal directions for the center of gravity of a solar sail. CONSTITUTION:Two solar sails 1 and 2 arranged in the pitch axis YS direction are constituted of a plurality of divided surface elements 1-11-1-22 and 2-11-2-22 arranged in two rows. Each surface element is formed from the elec tric optical effect substance in which the optical characteristics such as transmissivity can be changed by applying a voltage onto a liquid crystal plate, light adjusting glass, etc. The optical characteristics are changed by applying a voltage only onto the surface elements 1-11 and 1-21 at the position separated by (y1) from the center G of gravity of the solar sail 1 in the reverse direction to the pitch axis YS, and when the mirror surface reflection rate and dispersion reflection rate are changed, a roll axis torque TXS is generated. Therefore, a three-axis torque is generated by selectively changing the optical characteristics of the divided surface element.
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公开(公告)号：JPS63215980A
公开(公告)日：1988-09-08
申请号：JP4932387
申请日：1987-03-04
Applicant: NAT SPACE DEV AGENCY , MATSUSHITA GIKEN KK
Inventor： WAKABAYASHI YASUSHI , NAKAMURA KUNIO , KIMURA MICHIO
Abstract: PURPOSE:To reduce a minimum detecting width without injuring an S/N and improve a resolution by resetting the differential waveform of an infrared output detected by an infrared detector when the differential value of the infrared output reaches a prescribed value. CONSTITUTION:Infrared rays radiated from the atmosphere of the earth are detected by an infrared detector 101 using a pyroelectric type infrared detecting element with a condenser lens having a high S/N and, after DC components and low frequency components are removed by a CR coupled circuit 201, ampli fied by a first stage amplifier 202 to be inputted to an equalizer 102. The output of the equalizer 102 is inputted to a differentiating circuit 203 and its differential output is inputted to a positive comparison level detector 205 and a negative comparison level detector 206 via a buffer amplifier 204. Positive and negative comparison levels are detected by the level detectors 205 and 206, respectively. A switch is operated by a pulse generated from a reset pulse generator 207 at the arrival moments of the comparison levels and a differential waveform is reset and waveform-shaped by a waveform shaper 104 whereby the edge of the earth is detected.
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