Abstract
The prototype tests of spacecraft which have deployable structures are one of the important stage. When performing the prototype tests, spacecraft require space environment. However, the effect of gravity interferes with every structure on the earth, but in space the effect of gravity is ineffective. State of zero gravity is required to do the prototype test of spacecraft. In this study, we propose a prototype test system for variable flexible spacecraft by using multi mobile robots with decentralized autonomous control system. The main purpose of this system is to create a state of zero gravity as well as possible. All the robot is autonomously controlled by using force control. All the robot provide force in opposite direction to gravity. The validity of the system is verified by the simple hardware model.
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