SMART END EFFECTOR FOR DEXTEROUS MANIPULATION IN SPACE

A smart end effector has been developed to add dexterous and flexible capabilities to coarse space work systems. It provides fine adjustment for precise error compensation by using a relative proximity sensor and provides delicate force control by using a force-torque sensor. It also automatically tracks a marked target and captures it with specified impedance. A new mechanism using parallel links has been devised for the end effector, and a visual proximity sensor has been developed for six-dimensional position-attitude measurement of a flying target. Attaching the smart end effector to a long arm, experiments have been carried out using a two-dimensional air-bearing test bed, and sufficient performance has been achieved.