Hitachi, Ltd.

Satoshi Mohri

Katsumi Kawano

Shoji Miyamoto

Toshiro Sasaki

Michitaka Kosaka

Takashi Nakajima

Shinichi Takarada

A manipulator having a plurality of articulations to be controlled with a given destination value of position and orientation, has a finite difference unit for obtaining a finite difference between the destination value and a present value for each articulation, and a fuzzy inference determination unit for executing a fuzzy inference for each articulation by using the finite difference and determining a command value for each articulation. The position of the manipulator terminal may be obtained on the basis of each articulation angle data, video data from a TV camera, or data from an ultrasonic sensor.

Manipulator

There is an attitude control method and system for a satellite. This system comprises a star catalogue of the universe, a star sensor and means for calculating features on the surface of the star sensor from a signal detected by the star sensor. The calculated features are compared with a table of which the star catalogue was reconstituted so as to easily search the features, thereby determining the attitude of the satellite.

Method and apparatus of determining an attitude of a satellite

An apparatus for determining attitude of a satellite by using a star sensor includes a ground terminal equipped with a data processing unit and star catalogue, a star sensor, an estimating the unit for estimating attitude of the satellite and a decision unit for deciding the attitude determination mode I or II in dependence on attitude stability of the satellite. In the mode I, angles representative of the satellite attitude are estimated by the estimating unit on the basis of a star sub-catalogue prepared by utilizing a priori information. In the mode II, the attitude angles are estimated by the data processing unit through data transaction with the ground terminal without resorting to the use of the priori information.

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Tokyo, Japan

Satoshi Mohri