JP2005205551A - Satellite, manipulator device and satellite control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a satellite, a manipulator device capable of surely capturing and gripping a gripping object; and a satellite control method. <P>SOLUTION: When a gripper 202 provided on the tip of an arm 201 of a service satellite 200 contacts with a gripping object part 101 of a rescue satellite 100, an orbit for moving the arm 201 is corrected on the basis of contact force R of the gripper 202 and the gripping object part 101, and the gripper 202 is moved in the orbit becoming familiar with the gripping object part 101 from the front. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a satellite, a manipulator device, and a satellite control method.

In recent years, rockets and satellites have been commercialized. However, as is well known, if a satellite fails to be put into a predetermined orbit, the loss will be enormous, which has hindered commercialization.
For this reason, various techniques have been developed in an effort to reliably put a satellite into a predetermined orbit, but it is very difficult to set the probability to 100%.

Therefore, a satellite that has failed to enter a predetermined orbit (hereinafter referred to as a rescue satellite as appropriate) is reintroduced into orbit by another satellite (hereinafter referred to as a service satellite as appropriate). "Re-injection service" is attracting attention.
In this service, a rescue satellite is captured by a manipulator or the like provided for the service satellite, the required maintenance is performed on the rescue satellite, and re-injection into the orbit is enabled.

  By the way, in space, the gravitational environment is very different from the ground, so the difference between these environments must be taken into account, and various devices have been devised in the control of robots such as manipulators used in space. (For example, see Patent Document 1)

Japanese Patent Laid-Open No. 10-193289

  In particular, when a rescue satellite is captured by a manipulator provided in a service satellite, the rescue satellite is physically unconstrained or has a weak restraint force in outer space. For this reason, when the manipulator hits the rescue satellite, the rescue satellite may be blown off, making it difficult to capture.

In addition, after the rescue satellite is captured, the manipulator may be moved to move the rescue satellite. However, in space with little binding force, the movement of the arm may significantly affect the attitude of the rescue satellite or service satellite. is there. For this reason, attitude control is performed by actuators such as gyros and thrusters in response to the operation of the manipulator, but the control is complicated and energy resources are limited. Attitude control is required.
The present invention has been made based on such a technical problem, and an object of the present invention is to provide a satellite, a manipulator device, and a satellite control method capable of reliably capturing and grasping an object to be grasped.
Another object is to provide a satellite and a satellite control method that can perform attitude control with minimum energy consumption in a state where physical binding force is weak.

The satellite of the present invention made for this purpose is a satellite provided with a manipulator capable of gripping a gripping object, and a manipulator control unit that moves the manipulator along an orbit toward the gripping object; A recoil suppression control unit that displaces the manipulator in a direction corresponding to a rotational moment generated in the gripping object when the manipulator comes into contact with the gripping object and suppresses recoil of the gripping object. .
In order to suppress the recoil of the gripping object, the recoil suppression control unit causes the manipulator to approach the gripping object, and when the manipulator contacts the gripping object, the manipulator is generated in the gripping object. It is preferable to translate the object toward the object to be grasped while rotating it in the direction corresponding to the rotational moment.
Further, a recoil tracking control unit that predicts a recoil trajectory of the gripping object when the manipulator contacts the gripping object, operates the manipulator based on the predicted recoil trajectory, and tracks the gripping object. It can also be provided. Although it is possible to track a gripping object using a camera, image processing, or the like, there is a possibility that image processing or the like cannot catch up with the movement of the gripping object. Therefore, the recoil trajectory of the gripping object is predicted based on the contact force when the manipulator contacts the gripping object, the position, posture, movement, etc. of the gripping object, and the gripping object is tracked.
Furthermore, when the manipulator is moved by moving the manipulator while holding the gripping object with the manipulator, a trajectory is generated so that the moment acting on the satellite via the manipulator is minimized by the gripping object. A trajectory generation controller that operates the manipulator along the trajectory may be further provided. In this way, it is possible to move the grasped object in a trajectory that minimizes the moment acting on the satellite.

The present invention relates to a manipulator having a gripping part capable of gripping a gripping target at the tip, and the manipulator approaching the gripping target and when the manipulator contacts the gripping target, the manipulator is And a manipulator control unit that translates the object toward the object to be grasped while rotating in a direction corresponding to the rotational moment generated in the device.
Such a manipulator device can be provided in a satellite as described above. The manipulator device can also be provided in various devices, not limited to satellites (of course, not limited to those used in outer space). Thereby, when a manipulator contacts a grasping subject, it can control that a grasping subject is flipped off.
Also in this case, the manipulator control unit predicts the recoil trajectory of the gripping object when the manipulator contacts the gripping object, and operates the manipulator based on the predicted recoil trajectory to Can also be tracked.
In performing such control, the manipulator control unit can control the operation of the manipulator based on the contact force when the manipulator contacts the object to be grasped, the driving torque, the joint angle, and the joint angular velocity of the manipulator. .

The present invention can also be understood as a satellite control method, more specifically, a first satellite control method for capturing a second satellite by the first satellite. The method includes operating a manipulator provided in a first satellite toward a second satellite, and detecting that the manipulator contacts the second satellite, the manipulator is connected to the second satellite. Rotating in the same direction as the rotational moment generated in the first satellite by the contact, translating toward the second satellite, and when the manipulator and the predetermined part of the second satellite are facing each other, the manipulator And gripping a predetermined part of the satellite.
In the step of translating while rotating the manipulator, it is preferable to control the rotation and translation of the manipulator according to the contact force generated when the manipulator contacts the second satellite.
Further, in the step of translating while rotating the manipulator, the rotation and translation operation of the manipulator can be controlled by compliance control including a spring-damper system element. Thereby, it is possible to suppress the second satellite from being blown off when the manipulator comes into contact with the second satellite.
Further, in this method, when the second satellite is moved by operating the manipulator after holding the second satellite with the manipulator of the first satellite, the second satellite acts on the first satellite via the manipulator. It is also possible to move the second satellite in an orbit that minimizes the moment.

The present invention can also be regarded as a satellite control method when moving the second satellite while the second satellite is held by the manipulator of the first satellite. Generating a trajectory that minimizes the moment acting on the first satellite via the step of moving the second satellite grasped by the manipulator by operating the manipulator along the generated trajectory; and , It can be characterized by having.
In the step of moving the second satellite, after pulling the manipulator from the start point to move the second satellite to the first satellite side, and extending the manipulator toward the end point to move the second satellite, It is possible to realize an orbit that minimizes the moment acting on the first satellite.
In the step of generating such an orbit, it is preferable to obtain the amount of pull-in that minimizes the moment acting on the first satellite by changing the amount of pull-in of the manipulator in a plurality of stages. In this way, the optimum trajectory can be easily obtained in a short time by using only the pull-in amount as the variation parameter.

According to the present invention, even when the physical restraint force is weak, such as in outer space, the object to be grasped can be reliably captured and grasped by suppressing or tracking the recoil of the object to be grasped. It becomes possible.
In addition, when an object held by the manipulator is moved in a state where the physical restraining force is weak, posture control can be performed with minimum energy consumption.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.
FIG. 1 is a diagram for explaining an example of models of a rescue satellite (grasping object, second satellite) 100 and a service satellite (satellite, first satellite) 200 in the present embodiment.
As shown in FIG. 1A, the rescue satellite 100 has a gripped portion 101 called PAF or the like on the outer peripheral surface thereof.
On the other hand, as shown in FIG. 1B, the service satellite 200 has a manipulator arm 201 (hereinafter simply referred to as an arm: manipulator) 201 having a plurality of joints. A gripper 202 that can grip the portion 101 is provided.

FIG. 2 is a block diagram showing a configuration for controlling the arm 201 of the service satellite 200.
As shown in FIG. 2, the operations of the motors 203, 204, 205 and the gripper 202 that drive the joint portion of the arm 201 are controlled by a control unit (“PC”: manipulator control unit in FIG. 2) 210. It has become so. The motors 203, 204, and 205 are controlled by their respective drivers 206, 207, and 208, and their operation amounts are detected by an encoder 209. On the other hand, the opening and closing of the gripper 202 is controlled by the gripper controller 211.

  In the control unit 210, the detection value of the force sensor 220 that detects the force generated in the arm 201, the detection value of the gyro 221 that detects the angular velocity of the service satellite 200, and the image of the camera 222 that images the rescue satellite 100 to be captured. And the motors 203, 204, and 205 of the arm 201 and the gripper 202 are controlled based on a program input in advance based on the command input from the keyboard 223.

Specifically, the service satellite 200 executes recoil suppression control and recoil tracking control when capturing the rescue satellite 100.
As shown in FIG. 3, the recoil suppression control means that when the gripper 202 provided at the tip of the arm 201 contacts the gripped portion 101 of the rescue satellite 100 (from an oblique direction), the gripper 202 touches the gripped portion 101. It is moved in a trajectory that fits in from the front. Specifically, as shown in FIG. 3A, when the gripper 202 comes into contact with the gripped portion 101 from an oblique direction, the gripper 202 receives a contact force R from a contact portion with the gripped portion 101, and the contact force R A rotational moment M1 is generated. Therefore, a recoil suppression trajectory is generated in the same direction as the rotational moment M1, and the gripper 202 is operated along this.
As shown in FIGS. 3B and 3C, the gripper 202 performs an operation A <b> 1 that rotates in the same direction as the rotational moment M <b> 1 and an operation A <b> 2 that translates toward the gripped portion 101 by the recoil suppression orbit. As shown in FIG. 3 (d), the gripper 202 and the gripped portion 101 eventually face each other and come into contact with each other and no rotational moment M1 is generated. In this state, the rescue satellite 100 is captured by closing the gripper 202 and gripping the gripped portion 101.

  On the other hand, in the recoil tracking control, as shown in FIG. 4, the movement of the rescue satellite 100 is estimated by estimating the external force P (including the rotational moment) acting on the center of the rescue satellite 100 by the contact force R with the gripper 202. The arm 201 and the gripper 202 are operated so as to follow this.

FIG. 5 is a block diagram showing a configuration of a control system in the control unit 210 for performing such recoil suppression control and recoil tracking control.
Here, the control system in the control unit 210 includes an arm operation control block (manipulator control unit) 230 that controls the operation of the arm 201, and a recoil control process that performs processing for performing recoil suppression control and recoil tracking control. A block (recoil suppression control unit, recoil tracking control unit, orbit generation control unit) 240.
The arm 201 is normally (not in contact with the rescue satellite 100), based on the arm tip target trajectory created by a predetermined program, toward the target position T (the gripped portion 101 of the rescue satellite 100). 202 operates to approach. At this time, the angle of each axis of the arm 201 is detected based on the detection value of the encoder 209, and the tip position of the arm 201 is grasped based on this. Based on this, the arm operation control block 230 performs predetermined arm control processing such as position proportional control, inverse Jacobian matrix, angle proportional control, etc., to calculate the target angular velocity of each axis of the arm 201, and the drivers 206, 207, 208 is transmitted. Then, the drivers 206, 207, and 208 drive the motors 203, 204, and 205 of the respective axes of the arm 201 according to the transmitted target angular velocity, whereby the arm 201 is moved along the created arm tip target trajectory. Is supposed to work.
At this time, the position of the gripped portion 101 of the rescue satellite 100 as a target is recognized by the visual sensor 226 that functions by processing the image captured by the camera 222 with the controller 224 (see FIG. 1). Thus, the target position T at the tip of the arm 201 is corrected.

  When the service satellite 200 comes into contact with the rescue satellite 100, it receives contact force from the rescue satellite 100. When it is detected that the service satellite 200 is in contact with the rescue satellite 100 based on the force generated in the arm 201 detected by the force sensor 220 and the angular velocity of the service satellite 200 detected by the gyro 221, the control changeover switch 250 is switched, The jump control processing block 240 functions. In the recoil control processing block 240, based on the detected value of the force generated in the arm 201 by the force sensor 220 and the detected value of the angular velocity of the service satellite 200 by the gyro 221, the recoil suppression control and the recoil tracking described above are performed. Take control.

FIG. 6 is a block diagram showing a functional configuration for performing recoil suppression control and recoil tracking control in the recoil control processing block 240.
As shown in FIG. 6, in the recoil control processing block 240, the angle α of the arm 201 detected by the encoder 209 and the gripper 202 detected by the force sensor 220 (hereinafter may be appropriately referred to as a hand). The compliance control block receives the stress (contact force) received, the target angular velocity αrd of each axis of the arm 201 calculated by the arm operation control block 230, the rotational angular velocity ws and the rotational angle ths of the service satellite 200 detected by the gyro 221. By performing predetermined compliance control in 241, recoil suppression control is performed.

  In the compliance control block 241, when the force sensor 220 detects the contact force Feae generated in the arm 201, the arm hand target position / posture con_target for automatically displacing and adapting the arm 201 in the direction of the received force is expressed by the following equation: calculate.

  Here, K is a mass spring damper spring, and C is a damper element. By applying compliance control, the arm 201 behaves as if there is a spring damper corresponding to C and K between the hand and the contact point. As a parameter setting guideline, K should be made as small as possible and adjusted with C as the main subject in consideration of taking away the kinetic energy of the rescue satellite 100 at the time of contact and slowly adapting without giving a strong impact. Is preferred.

In this manner, in the recoil control processing block 240, the arm hand target position / posture for automatically displacing and adapting the arm 201 in the direction of the force received by the contact with the rescue satellite 100 by the compliance control block 241. Recoil suppression control is performed by obtaining con_target.
Then, as the contact force Feae decreases, the displacement amount of the arm 201 also decreases, and when the contact force Feae finally becomes zero, the displacement of the arm 201 also becomes zero, thereby the gripper 202 at the tip of the arm 201. Since the gripped portion 101 of the rescue satellite 100 faces and is stationary, the rescue satellite 100 can be gripped by operating the gripper 202 in this state.

  Incidentally, the contact force Feae that is input in the compliance control includes many error factors such as sensor noise. In addition, when the force sensor 220 is attached to the tip of the arm 201 to be adapted, the compliance control does not work well. In order to solve such a problem, the contact force Feae can be estimated by the Kalman filter 242, and the estimation result can be used as an input for compliance control. The estimation formula of the Kalman filter 242 is shown below.

Here, the input u _s, here, the contact force Feae, was to use a driving torque obtained from the arm angle target value and the angular velocity target value, instead of this, the driving of the contact force Feae the arm 201 Torque may be defined.
Accordingly, the contact force Feae can be estimated by the Kalman filter 242 and the position and orientation of the service satellite 200 can be estimated based on the contact force Feae. Based on this, the target position T at the tip of the arm 201 can be corrected.

The control unit 210 uses a visual sensor 226 to track the rescue satellite 100. There is no problem as long as the visual sensor 226 can accurately measure the movement of the rescue satellite 100, but as the accuracy requirement becomes more severe, the sampling period becomes slower. Furthermore, the imaging field of view of the camera 222 is narrowed when touching (approaching) (although the imaging field angle of the camera 222 itself is fixed, the rescue satellite 100 becomes relatively large in the captured image, and thus the imaging field of view) (Range) becomes narrow). For this reason, after the arm 201 of the service satellite 200 comes into contact with the gripped portion 101 of the rescue satellite 100 and a contact force is generated between them, the movement measurement process of the rescue satellite 100 cannot catch up, or the rescue satellite 100 It is conceivable that the gripped part 101 is out of the imaging range of the camera 222 and cannot be measured, that is, the rescue satellite 100 cannot be tracked, and the rescue satellite 100 is tracked only by the information of the visual sensor 226. Have difficulty.
Therefore, in the recoil control processing block 240, the motion of the rescue satellite 100 that is bounced when the arm 201 contacts the rescue satellite 100 is estimated by the Kalman filter 243 from the detection value of the force sensor 220, and the recoil tracking control is performed. Can do. For this purpose, the movement of the rescue satellite 100 is estimated by estimating the external force P acting on the center of the rescue satellite 100 by the contact force R with the gripper 202. An estimation formula used in the Kalman filter 243 at this time is shown in [Expression 3].

  Thus, the Kalman filter 243 estimates the motion of the rescue satellite 100 from the detection value of the force sensor 220, and further corrects the information (correction amount) of the visual sensor 226 to calculate the target value han_target of the hand of the arm 201. By operating the arm 201 based on this, the rescue satellite 100 can be tracked.

  As described above, by taking into account the correction value output from the recoil control processing block 240 and correcting the target position T at the tip of the arm 201, the arm 201 is operated, whereby the gripped portion 101 of the rescue satellite 100 is operated. Therefore, the gripper 202 can surely hold and capture without being blown off.

  By the way, the visual sensor 226 normally recognizes the position and the like of the gripped portion 101 by imaging the rescue satellite 100 and processing the obtained image. For example, as shown in FIG. As described above, the rescue satellite 100 may be provided with a target 102 such as an LED or a protrusion, and the target 102 may be recognized by the visual sensor 226. In this case, if at least two targets 102 are formed as a pair, the visual sensor 226 can recognize an angle, a distance, and the like with respect to the target 102 as shown in FIG. When such a configuration can be adopted, the visual sensor 226 can be manufactured at a much lower cost than when high-resolution image processing is required.

By performing recoil tracking control / recoil suppression control as described above, after the rescue satellite 100 is captured by the service satellite 200, the rescue satellite 100 may be moved by operating the arm 201. In this case, the movement of the arm 201 greatly affects the attitudes of the rescue satellite 100 and the service satellite 200 in the outer space with less binding force.
As shown in FIG. 8, when the rescue satellite 100 held from position (1) to position (2) is moved, it is not moved linearly so as to have the shortest distance as shown in FIG. 8 (a). As a result, the object at the tip of the arm 201 is shaken, an excessive moment is generated in the service satellite 200, and the attitude is changed.
On the other hand, in the service satellite 200 of the present embodiment, when the rescue satellite 100 is moved from the position (1) to the position (2), the arm 201 is contracted during the movement as shown in FIG. By moving the rescue satellite 100 in an orbit that pulls the rescue satellite 100 toward the base side of the arm 201, the moment generated in the service satellite 200 is reduced.
For this reason, in the control unit 210, as shown in FIG. 9, the orbit from the initial position (1) to the target position (2) of the rescue satellite 100 is made to be, for example, a quadratic curve. The moving speed of the tip of the arm 201 is the rated speed, and the speed of the tip of the arm 201 at the inflection point (3) is fixed. In the control unit 210, only the retracting distance L of the rescue satellite 100 is obtained. Change to generate multiple trajectories. Then, for each of these orbits, energy consumption, that is, a moment generated by moving the rescue satellite 100 by operating the arm 201 (this is referred to as an attitude control moment) is calculated. As a result, the trajectory with the minimum attitude control moment is set as the trajectory of the arm 201 for moving the rescue satellite 100.

  FIG. 10 shows an example of the comparison result of the attitude control moment when only the pull-in distance L is changed as described above. In the case of the result of FIG. 10, when the pull-in distance L is 30 cm, the attitude control moment is the smallest.

The trajectory with the minimum attitude control moment obtained in this way is set as the trajectory of the arm 201 for moving the rescue satellite 100, and the control unit 210 controls the operation of the arm 201, thereby minimizing the energy consumption. It can be done.
Such a method has a great merit that the calculation process is simpler than the nonholonomic control method and the like and does not take time.

In the above embodiment, the load received by the arm 201 by the contact force Feae detected by the force sensor 220 is detected. However, the drive current value for driving the motors 203, 204, and 205 of each joint of the arm 201 is detected. From this, it is possible to estimate the load acting on the tip of the arm 201. In this case, it is not necessary to investigate and select a force sensor 220 that can be used in a severe space environment, and the driving current value and the driving torque of the arm 201 are in a substantially proportional relationship, so that complicated signal processing is unnecessary. There are advantages.
Further, the load acting on the tip of the arm 201 can be estimated from the angular velocity of each joint of the arm 201 without using the force sensor 220. This configuration is effective when the noise of the drive current value is large and the load at the tip of the arm 201 cannot be estimated with high accuracy. Further, it is also possible to use the drive current value or the estimated value based on the joint angular velocity in order to verify the detection value of the force sensor 220.

In the above embodiment, in order to perform recoil suppression and recoil tracking, a method using compliance control and a Kalman filter as shown in FIG. 6 is used. It is also possible to use a technique.
Further, there is no intention to limit the configuration of the rescue satellite 100 or the service satellite 200 itself, and the gripped portion 101, the arm 201, the gripper 202, and the like can be appropriately changed to other configurations.
In addition to this, as long as it does not depart from the gist of the present invention, the configuration described in the above embodiment can be selected or changed to another configuration as appropriate.

It is a figure which shows schematic structure of the rescue satellite and service satellite in this Embodiment. It is a block diagram which shows the structure for controlling the manipulator arm of a service satellite. It is a figure which shows the operation | movement of the arm by recoil suppression control. It is a figure for showing the external force which has arisen in the rescue satellite which needs estimation for performing recoil tracking control. It is a block diagram which shows the structure for performing operation | movement control of an arm, recoil suppression control, and recoil tracking control. It is a block diagram which shows the structure for performing the recoil suppression control and the recoil tracking control of an arm. It is an example of the target for recognizing the position and attitude | position of a rescue satellite, when holding the to-be-held part of a rescue satellite. It is a figure which shows the state which moves an arm, holding a rescue satellite, (a) is an example in the case of moving a rescue satellite linearly, (b) is the orbit of a rescue satellite in the case of minimizing energy consumption FIG. It is an example of the trajectory of a quadratic curve for minimizing the attitude control moment. It is a figure which shows the difference in the attitude | position control moment when changing the amount of drawing.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 ... Rescue satellite (grasping object, 2nd satellite), 101 ... Grasped part, 200 ... Service satellite (satellite, 1st satellite), 201 ... Arm (manipulator), 202 ... Gripper, 209 ... Encoder, 210 ... Control unit (manipulator control unit) 211 ... Gripper controller, 220 ... Force sensor, 226 ... Visual sensor, 230 ... Arm operation control block (manipulator control unit), 240 ... Recoil control processing block (recoil suppression control unit, Recoil tracking control unit, trajectory generation control unit), 241 ... compliance control block, 242 ... Kalman filter, 243 ... Kalman filter, 250 ... control changeover switch

Claims (13)

A satellite equipped with a manipulator capable of gripping a gripping object,
A manipulator control unit that moves the manipulator along a trajectory toward the grasped object;
A recoil suppression control unit that displaces the manipulator in a direction according to a rotational moment generated in the gripping object when the manipulator contacts the gripping object, and suppresses recoil of the gripping object;
A satellite characterized by comprising:   A recoil that predicts a recoil trajectory of the gripping object when the manipulator contacts the gripping object, and operates the manipulator based on the predicted recoil trajectory to track the gripping object. The satellite according to claim 1, further comprising a tracking control unit.   A trajectory that minimizes the moment applied to the satellite via the manipulator by the gripping object when the gripping target is moved by operating the manipulator while the gripping object is gripped by the manipulator. The satellite according to claim 1, further comprising: a trajectory generation control unit that causes the manipulator control unit to operate the manipulator along the generated trajectory. A manipulator having a gripping part capable of gripping a gripping object at the tip part;
The manipulator is moved toward the gripping object, and when the manipulator comes into contact with the gripping object, the manipulator is rotated in a direction according to a rotational moment generated in the gripping object, and the gripping target is A manipulator controller that translates the object,
A manipulator device comprising:   The manipulator control unit predicts a recoil trajectory of the gripping object when the manipulator comes into contact with the gripping object, operates the manipulator based on the predicted recoil trajectory, and The manipulator device according to claim 4, wherein an object is tracked.   The manipulator control unit controls the operation of the manipulator based on a contact force when the manipulator contacts the grasped object, a driving torque, a joint angle, and a joint angular velocity of the manipulator. Item 6. The manipulator device according to Item 4 or 5. A method of controlling the first satellite for capturing a second satellite with a first satellite, comprising:
Operating the manipulator provided in the first satellite toward the second satellite;
When it is detected that the manipulator has contacted the second satellite, the second manipulator is rotated in the same direction as the rotational moment generated in the first satellite by contact with the second satellite. Translating to the next satellite,
Holding the predetermined part of the second satellite with the manipulator when the predetermined part of the manipulator and the second satellite face each other; and
A satellite control method characterized by comprising:   8. The step of translating while rotating the manipulator controls rotation and translation of the manipulator according to a contact force generated when the manipulator contacts the second satellite. Satellite control method.   9. The satellite control method according to claim 7 or 8, wherein in the step of translating the manipulator while rotating, the rotation and translation of the manipulator are controlled by compliance control including a spring-damper system element. .   When the second satellite is moved by operating the manipulator after the second satellite is held by the manipulator of the first satellite, the first satellite is moved by the second satellite via the manipulator. 10. The satellite control method according to claim 7, wherein the second satellite is moved in an orbit that minimizes a moment acting on the satellite. 11. A control method for moving the second satellite while holding the second satellite with the manipulator of the first satellite,
Generating a trajectory that minimizes the moment acting on the first satellite via the manipulator by the second satellite;
Moving the second satellite gripped by the manipulator by operating the manipulator along the generated orbit; and
A satellite control method characterized by comprising:   In the step of moving the second satellite, after pulling the manipulator from the starting point for moving the second satellite to the first satellite side, the manipulator is moved toward the end point for moving the second satellite. The satellite control method according to claim 11, wherein the satellite control method is extended.   13. The satellite according to claim 12, wherein in the step of generating the orbit, the amount of pull-in of the manipulator is changed in a plurality of stages to obtain the amount of pull-in that minimizes the moment acting on the first satellite. Control method.

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