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

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

2016

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

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.

Keywords:

Optics
Automation
Robot
Physics
Thirty Meter Telescope
Telescope
handling system

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