Research on Control that Simulates YURAGI for Lunar Rover Manipulators

Lunar exploration has been emphasized as a preliminary survey to clarify the structure of the solar system and to conduct human exploration. It is effective to use manipulator mounted on the rover for lunar exploration. However, in a harsh lunar environment, the manipulator encoder is prone to malfunctions. This is a serious problem because it becomes inoperable. Therefore, the controlling of manipulator without the data of the joint angle is required to keep conducting the missions. In this research, the controlling method using biological fluctuation is proposed, and then, simulations are carried out to indicate the effectiveness of proposed method.