Archive Method of Stone Wall in Kumamoto Castle Lifted by Small CMG Crane using Model Error Compensator

Kumamoto castle was damaged by big earthquake disaster in 2016. We have studied to archive precise 3D-stone data of the stone walls called ISHIGAKI because it should be useful for the renovation and the collapsing analysis of ISHIGAKI. For an efficient renovation, 3D-stone data should be obtained in a short period, i.e. the stone is modeled when it moves to the carry truck by a crane. In this paper, the small control moment gyro (CMG) device is prototyped, and the robust controller with a model error compensator is applied to CMG. Furthermore, the effective archiving procedure of 3D-stone is evaluated by an experiment using the CMG device.