WEKO3
アイテム
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Experimental study on manual operation method of a multiple-DOF space robotic arm considering vibration suppression
https://jaxa.repo.nii.ac.jp/records/7554
https://jaxa.repo.nii.ac.jp/records/75544ad94866-7475-49ec-9732-5d172fac7588
Item type | 会議発表論文 / Conference Paper(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2015-03-26 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Experimental study on manual operation method of a multiple-DOF space robotic arm considering vibration suppression | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロボットアーム | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロボット制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 振動抑制 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 微小重力 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 振動 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 抑制 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 柔軟性 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 分解速度制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | RMRC | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 単一関節制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | SJ制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 入力成形 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 波形 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | パラメータ推定 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | robot arm | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | robot control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | vibration suppression | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | microgravity | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | vibration | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | retarding | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | flexibility | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | resolved motion rate control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | RMRC | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | single joint control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | SJ control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | input shaping | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | waveform | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | parameter estimation | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
アクセス権 | ||||||
アクセス権 | metadata only access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_14cb | |||||
その他のタイトル | ||||||
その他のタイトル | 振動抑制を考慮した多自由度柔軟ロボットアームのマニュアル操作に関する検討 | |||||
著者 |
此上, 一也
× 此上, 一也× 松永, 三郎× Konoue, Kazuya× Matsunaga, Saburo |
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著者所属 | ||||||
東京工業大学 | ||||||
著者所属 | ||||||
東京工業大学 | ||||||
著者所属(英) | ||||||
en | ||||||
Tokyo Institute of Technology | ||||||
著者所属(英) | ||||||
en | ||||||
Tokyo Institute of Technology | ||||||
出版者 | ||||||
出版者 | 宇宙航空研究開発機構宇宙科学研究本部 | |||||
出版者(英) | ||||||
出版者 | Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS) | |||||
書誌情報 |
第16回アストロダイナミクスシンポジウム講演後刷り集 2006 en : Proceedings of 16th Workshop on JAXA Astrodynamics and Flight Mechanics p. 308-313, 発行日 2007-03 |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 実際の宇宙ステーションなどの軌道上においては、オペレータのマニュアル操作によってロボットアームを動作させる場合が多い。そこで、柔軟性を有する6自由度冗長ロボットアームの2次元微小重力環境実験設備を構築し、マニュアル操作実験を実施する。動作中の振動を検知し、振動抑制に必要なパラメータを動作中に随時更新し、システムの振動特性が動的に変化する場合にも、振動を抑制しながら操作する手法を提案し、その有効性を実験にて実証する。実験では、柔軟リンク部に貼付したひずみゲージを利用しているが、各関節の駆動電流値からも実現でき、新たなセンサやアクチュエータを必要とせずに、操作手法の改良のみで、振動を抑制し作業効率を向上することができることを述べる。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | Space robotic arm, such as robot manipulator systems on International Space Station (ISS), are usually operated manually by astronauts and ground operators. Such manipulator systems are subject to vibrations due to its flexibility, which cause degradation of the operation accuracy. We use Input Shaping method in order to suppress the vibration. However, when a posture of the arm changes dynamically, we need to improve the scheme of vibration suppression control. We propose the practical manual operation method without additional sensors and actuators. In proposed method, sensing the vibration during robotic arm operation, the parameters for vibration suppression are updated as required. Though a strain gauge is used for sensing the vibration, only actuator's current of each joint is practicable. In this paper, we conduct manual operation experiment, and examine the validity of the proposed manipulation method considering vibration suppression. | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0063481053 |