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A contact dynamics for spacecraft capturing and rigidizing by end-effector of space manipulator
https://jaxa.repo.nii.ac.jp/records/7495
https://jaxa.repo.nii.ac.jp/records/7495e54d7fb7-d094-457b-8e2e-7f9afaefb5fc
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 | A contact dynamics for spacecraft capturing and rigidizing by end-effector of space manipulator | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | エンドエフェクタ | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 遠隔操作システム | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ジョイント | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 動特性 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 自由度 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | マニピュレータ | |||||
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 | 宇宙機回収 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数学モデル | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | シミュレーション | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 宇宙機捕獲 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 宇宙ステーション遠隔操作システム | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | SSRMS | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | グラプルフィクスチャ | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | GF | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | end effector | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | remote manipulator system | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | joint | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | dynamic characteristic | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | degree of freedom | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | manipulator | |||||
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 | spacecraft recovery | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | mathematical model | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | simulation | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | spacecraft capturing | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Space Station Remote Manipulator System | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | SSRMS | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | grapple fixture | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | GF | |||||
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 | |||||
著者 |
澤田, 弘崇
× 澤田, 弘崇× 鈴木, 悟史× 小田, 光茂× Sawada, Hirotaka× Suzuki, Satoshi× Oda, Mitsushige |
|||||
著者所属 | ||||||
宇宙航空研究開発機構 | ||||||
著者所属 | ||||||
エイ・イー・エス | ||||||
著者所属 | ||||||
宇宙航空研究開発機構 | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency | ||||||
著者所属(英) | ||||||
en | ||||||
Advanced Engineering Services Co. Ltd. | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency | ||||||
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17回アストロダイナミクスシンポジウム講演後刷り集 2007 en : Proceedings of 17th Workshop on JAXA Astrodynamics and Flight Mechanics p. 350-355, 発行日 2008-03 |
|||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | A space robotic manipulator operated practically in orbit, for example, Space Station Remote Manipulator System (SSRMS), Shuttle RMS (SRMS), has a similar End-Effector (EE) to capture a specified interface called Grapple Fixture (GF), and the Japan Experimental Module (JEM) Remote Manipulator System (JEMRMS) has a same EE. Therefore, dynamics analysis of capturing operation using space robotic manipulator and the specified EE considering a contact dynamics between a manipulator/EE and captured objective is very important for future missions applying RMS in orbit. We focus the contact dynamics of an interface of EE and GF in order to analyze a behavior of space robotic manipulator and a target object, and set up a high-fidelity simulator that using an industrial manipulator and six-axis force/torque sensor. In this paper we assumed the target object is a large spacecraft that weights approximately 1.3 ton similar to H2-A Transfer Vehicle (HTV). We report results of dynamics simulation and experiment to measuring a constraint condition of the target spacecraft that is captured by manipulator/EE. | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0063718058 |