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The control of the box-pushing space robot
https://jaxa.repo.nii.ac.jp/records/7681
https://jaxa.repo.nii.ac.jp/records/76817b0d26e3-fdf6-409d-95a1-347a748aeb6e
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 | The control of the box-pushing space robot | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 宇宙ロボット | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 姿勢制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 位置制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 非線形制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 2体システム | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 運動方程式 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 制御性 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 安定化 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | space robot | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | attitude control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | position control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | nonlinear control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | two body system | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | equation of motion | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | controllability | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | stabilization | |||||
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 | Box-pushing宇宙ロボットの制御 | |||||
著者 |
橋本, 智昭
× 橋本, 智昭× 小島, 広久× 藤井, 裕矩× Hashimoto, Tomoaki× Kojima, Hirohisa× Fujii, Hironori |
|||||
著者所属 | ||||||
東京都立科学技術大学 | ||||||
著者所属 | ||||||
東京都立科学技術大学 | ||||||
著者所属 | ||||||
東京都立科学技術大学 | ||||||
著者所属(英) | ||||||
en | ||||||
Tokyo Metropolitan Institute of Technology | ||||||
著者所属(英) | ||||||
en | ||||||
Tokyo Metropolitan Institute of Technology | ||||||
著者所属(英) | ||||||
en | ||||||
Tokyo Metropolitan 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 |
平成16年度アストロダイナミクスシンポジウム:講演後刷り集 en : ISAS proceedings of 14th Workshop on Astrodynamics and Flight Mechanics 2004: A Collection of Technical Papers p. 278-283, 発行日 2005-03 |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 本論文では2次元慣性空間上の2体剛体の姿勢と位置に関する制御問題について議論する。3つのスラスタが2体剛体の片方に取り付けられている。制御入力には非負という制約がある。片側方向のみの制御入力という制約が、問題を非常に興味深いものとしている。なお、本問題は24th ISTSの制御系コンテストで公示されたものである。本論分では、このシステムにおける可制御性、制御設計の問題を扱いたい。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | The attitude and position control problem for two-body system in two-dimensional inertial space is discussed. Three thrusters are equipped with one side of two-body. This two-body system contains control input which is constrained to be non-negative. The constraint as unilateral control input provides a challenging research area of increasing interest in both application and theory. This interesting problem is announced at 24th The International Symposium on Space Technology. In this paper, this important class of underactuated mechanical control system is examined and problems in both nonlinear controllability and nonlinear control design are addressed. | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0918-8053 | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0047897048 |