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Dynamical analysis for task configuration of redundant flexible space manipulator with deployable links
https://jaxa.repo.nii.ac.jp/records/7772
https://jaxa.repo.nii.ac.jp/records/7772f2e150d9-bfd3-4f22-a494-d22d1579f98b
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 | Dynamical analysis for task configuration of redundant flexible space manipulator with deployable links | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 冗長部品 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 動的解析 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 作業姿勢 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロボットダイナミクス | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 宇宙用柔軟マニピュレータ | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ペイロードドッキング | |||||
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 | 自由度 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 振動 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | エンドエフェクター | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | redundant component | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | dynamical analysis | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | task configuration | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | robot dynamics | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | flexible space manipulator | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | payload docking | |||||
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 | degree of freedom | |||||
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 | end effector | |||||
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 | 冗長自由度を持つ宇宙用柔軟マニピュレータの作業姿勢に関する動力学的考察 | |||||
著者 |
小松, 督
× 小松, 督× Modi, Vinod J.× Komatsu, Tadashi× Modi, Vinod J. |
|||||
著者所属 | ||||||
関東学院大学 工学部 機械工学科 | ||||||
著者所属 | ||||||
British Columbia University Department of Mechanical Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
Kanto Gakuin University Department of Mechanical Engineering, College of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
British Columbia University Department of Mechanical Engineering | ||||||
出版者 | ||||||
出版者 | 宇宙科学研究所 | |||||
出版者(英) | ||||||
出版者 | The Institute of Space and Astronautical Science (ISAS) | |||||
書誌情報 |
平成14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 12th Workshop on Astrodynamics and Flight Mechanics 2002: A Collection of Technical Papers p. 57-62, 発行日 2003-02 |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 本論文では、回転および直動リンクを持つ冗長柔軟宇宙ロボットの動力学解析を行う。冗長ロボットの自由度を拘束させて転置ヤコビ行列法で動かす時、どの自由度を残し、どの自由度を拘束させれば良いのか、またペイロードドッキングタスクでの望ましい作業姿勢について、エネルギー消費や発生する振動に着目して調べた。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | In this paper, dynamical analysis for task configuration of a redundant flexible space manipulator with slewing and deployable links will be done. It will be analyzed which joints have to be constrained or which the best configuration for a payload docking task is considering dynamical influence, when the robot is controlled by the transposed Jacobian method. | |||||
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: AA0045497010 |