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大型宇宙マニピュレータの残留振動抑制に関する研究
https://jaxa.repo.nii.ac.jp/records/6218
https://jaxa.repo.nii.ac.jp/records/621812a59ec6-6eb8-4602-8fbb-c43c93fe8619
名前 / ファイル | ライセンス | アクション |
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49057009.pdf (2.6 MB)
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Item type | テクニカルレポート / Technical Report(1) | |||||
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公開日 | 2015-03-26 | |||||
タイトル | ||||||
タイトル | 大型宇宙マニピュレータの残留振動抑制に関する研究 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 残留振動 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 大型宇宙構造物 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ISS | |||||
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 | 振動減衰 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | フィードフォーワード制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 動的制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 制御系設計 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロボット制御 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | residual vibration | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | large space structure | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | ISS | |||||
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 | vibration damping | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | feedforward control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | dynamic control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | control system design | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | robot control | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_18gh | |||||
資源タイプ | technical report | |||||
その他のタイトル(英) | ||||||
その他のタイトル | Study of residual vibration suppression for a large robotic manipulator in space | |||||
著者 |
澤田, 弘崇
× 澤田, 弘崇× 上野, 浩史× 小田, 光茂× Sawada, Hirotaka× Ueno, Hiroshi× Oda, Mitsushige |
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著者所属 | ||||||
宇宙航空研究開発機構 総合技術研究本部 | ||||||
著者所属 | ||||||
宇宙航空研究開発機構 総合技術研究本部 | ||||||
著者所属 | ||||||
宇宙航空研究開発機構 総合技術研究本部 | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics | ||||||
出版者 | ||||||
出版者 | 宇宙航空研究開発機構 | |||||
出版者(英) | ||||||
出版者 | Japan Aerospace Exploration Agency (JAXA) | |||||
書誌情報 |
宇宙航空研究開発機構特別資料: 平成16年度総合技術研究本部宇宙領域宇宙科学研究本部合同研究成果報告書:先行研究等 en : JAXA Special Publication: FY2004 Report of Joint Research Achievements of the Space Division of Institute of Aerospace Technology and Institute of Space and Astronautical Science: Pioneering Research 巻 JAXA-SP-05-011, p. 29-34, 発行日 2006-01-20 |
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抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | This paper describes a method for operating large robotic manipulators, which generally has flexible links and joints in space. Vibration induced by flexibility is a serious problem when operating a long manipulator in orbit. Once vibration has occurred while a manipulator is handling a payload, the operator must wait for the vibration to be damped before proceeding, which decreases working efficiency. We studied a control method to suppress vibration during both manual and automatic operations. We investigated an Input Shaping feed-forward control method for damping residual vibration during operation. We discuss in detail the results of the pre-shaping vibration suppression and manual operation experiments in this paper. | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1349-113X | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AA11984031 | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0049057009 | |||||
レポート番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | レポート番号: JAXA-SP-05-011 |