To cause a floating article to translation move by stabilizing a posture of the floating article in a space.SOLUTION: The invention is configured so that, a plurality of thrust generators 5 on which a sensor 53 is mounted for detecting a self-position, a posture and acceleration are adhered to a floating object 3, and the plurality of thrust generators 5 subsequently generate thrust for measurement. Then, based on a rotary direction and an acceleration amount of a rigid body 9 when the thrust for measurement is generated subsequently, a mass, a centroid G and an inertia moment of the rigid body 9 are identified. Therefore, thrust for every thrust generator 5 for generating thrust F for translation movement of a vector penetrating the centroid G of the rigid body 9 identified by combining thrust of respective thrust generators 5 whose postures are detected by the sensors 53, can be determined by a measurement/control unit 7.SELECTED DRAWING: Figure 8
【課題】空間上の浮遊物体の姿勢を安定させて、浮遊物体を並進移動させる。【解決手段】自己位置、姿勢及び加速度を検出するセンサ53を搭載した複数の推力発生装置5を浮遊物体3に付着させ、付着した複数の推力発生装置5に測定用の推力を順次発生させる。そして、測定用の推力を順次発生させたときの剛体9の回転の方向と加速量から、剛体9の質量、重心G及び慣性モーメントを同定する。このため、同定した剛体9の重心Gを貫くベクトルの並進移動用の推力Fを、それぞれの姿勢がセンサ53によって検出されている各推力発生装置5の推力を合成して発生させるための、各推力発生装置5毎の推力を、計測・制御装置7において求めることができる。【選択図】図8
TRANSLATION MOVEMENT SYSTEM OF FLOATING ARTICLE, TRANSLATION MOVEMENT CONTROLLER FOR FLOATING ARTICLE AND TRANSLATION MOVEMENT METHOD OF FLOATING ARTICLE
浮遊物体の並進移動システム、浮遊物体の並進移動用コントローラ及び浮遊物体の並進移動方法
2019-08-08
Patent
Electronic Resource
Japanese