Force control technology of segment mirror exchange robot for Thirty Meter Telescope (TMT)

Masaki Haruna; Ieyoung Kim; Kazuhiko Fukushima; Satoru Sofuku; Toshitaka Nakaoji; Junji Takaki; Yusuke Saruta; Noboru Kawaguchi; Yasushi Horiuchi; Yutaka Ezaki

doi:10.1117/12.2235091

27 July 2016 Force control technology of segment mirror exchange robot for Thirty Meter Telescope (TMT)

Masaki Haruna, Ieyoung Kim, Kazuhiko Fukushima, Satoru Sofuku, Toshitaka Nakaoji, Junji Takaki, Yusuke Saruta, Noboru Kawaguchi, Yasushi Horiuchi, Yutaka Ezaki

Author Affiliations +

Proceedings Volume 9906, Ground-based and Airborne Telescopes VI; 99062Z (2016) https://doi.org/10.1117/12.2235091
Event: SPIE Astronomical Telescopes + Instrumentation, 2016, Edinburgh, United Kingdom

Abstract

SHS (Segment Handling System) is the subsystem implemented on the telescope. One of the key technologies of SHS is our force control technology applied to Segment Mirror Exchange Robot, which makes it possible to achieve safe and reliable mirror segment exchange as shown in Video 1.

Citation Download Citation

Masaki Haruna, Ieyoung Kim, Kazuhiko Fukushima, Satoru Sofuku, Toshitaka Nakaoji, Junji Takaki, Yusuke Saruta, Noboru Kawaguchi, Yasushi Horiuchi, and Yutaka Ezaki "Force control technology of segment mirror exchange robot for Thirty Meter Telescope (TMT)", Proc. SPIE 9906, Ground-based and Airborne Telescopes VI, 99062Z (27 July 2016); https://doi.org/10.1117/12.2235091

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