{"created":"2023-06-20T14:36:32.565573+00:00","id":2864,"links":{},"metadata":{"_buckets":{"deposit":"4e6dd233-aa36-4a39-9924-4b07910169ef"},"_deposit":{"created_by":1,"id":"2864","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"2864"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00002864","sets":["1398:1501:1502","1543:1827:1828","1887:1891","9:789:794:795"]},"author_link":["9488","9489","9486","9484","9485","9487"],"item_4_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"宇宙デブリ捕獲・除去システムの研究"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2019-03-07","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"632","bibliographicPageStart":"631","bibliographicVolumeNumber":"JAXA-SP-18-011","bibliographic_titles":[{"bibliographic_title":"宇宙航空研究開発機構特別資料: 第8回スペースデブリワークショップ講演資料集"},{"bibliographic_title":"JAXA Special Publication: Proceedings of the 8th Space Debris Workshop","bibliographic_titleLang":"en"}]}]},"item_4_description_14":{"attribute_name":"会議概要（会議名, 開催地, 会期, 主催者等）","attribute_value_mlt":[{"subitem_description":"第8回スペースデブリワークショップ (2018年12月3-5日. 宇宙航空研究開発機構調布航空宇宙センター(JAXA)(CAC)), 調布市, 東京","subitem_description_type":"Other"}]},"item_4_description_15":{"attribute_name":"会議概要（会議名, 開催地, 会期, 主催者等）（英）","attribute_value_mlt":[{"subitem_description":"The 8th Space Debris Workshop (December 3-5, 2018. Chofu Aerospace Center, Japan Aerospace Exploration Agency (JAXA)(CAC)), Chofu, Tokyo, Japan","subitem_description_type":"Other"}]},"item_4_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"除去対象として過去に衛星を打上げたH シリーズロケットの上段残滓を想定し, 軌道上から除去する小型ロボット衛星システムの研究・開発を行っている. ロケット上段は, 長い概円柱形状であるため, 経年により地球に対し鉛直な姿勢に収れんする. このため, 減速推進系として有望なEDT の取り付け部位は長軸の両端にあるノケットノズル, PAF となる. このいずれの捕獲にも対応でき, 失敗時のリトライが可能で, 以下に示す特徴を有する小型・軽量なロボットアームや画像処理系を有したシステムを提案し, 部分試作・試験結果につき報告する. ・軌道上での対象の姿勢運動につき, 固有空間法で効率的な画像計測/推定を行うシステム ・捕獲対象部位にロボットハンドを誘導するステレオ画像計測システム ・二指で着実な捕獲・緩衝・把持ができ, 無電力で把持状態を維持できるハンド機構 ・関節弾性機構とインピーダンスによる緩衝機能を有した3関節の軽量ロボットアーム","subitem_description_type":"Abstract"}]},"item_4_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"Active removal of space debris presents the most effective measures. This study examines a micro robotic satellite with a simple robot arm for active space debris removal. The upper stages of the H series rocket were selected as target debris objects to be removed. In this study, the details of a proposed active space debris capture/removal micro satellite system, vision sensing system of target attitude/motion and its robot arm with three flexible joints for capture of targets are described. A mechanism to capture the target space debris, namely, a control method for buffering force while capturing the target with the lightweight robot arm with flexible joints, is proposed. The results of feasibility studies, the performance assumed at each step, prototyping of the capture mechanism, and experimental results are also presented.","subitem_description_type":"Other"}]},"item_4_description_18":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"形態: カラー図版あり","subitem_description_type":"Other"}]},"item_4_description_19":{"attribute_name":"内容記述（英）","attribute_value_mlt":[{"subitem_description":"Physical characteristics: Original contains color illustrations","subitem_description_type":"Other"}]},"item_4_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA1830034060","subitem_description_type":"Other"}]},"item_4_description_33":{"attribute_name":"レポート番号","attribute_value_mlt":[{"subitem_description":"レポート番号: JAXA-SP-18-011","subitem_description_type":"Other"}]},"item_4_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構(JAXA)"}]},"item_4_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Japan Aerospace Exploration Agency (JAXA)"}]},"item_4_source_id_22":{"attribute_name":"ISSNONLINE","attribute_value_mlt":[{"subitem_source_identifier":"2433-2232","subitem_source_identifier_type":"ISSN"}]},"item_4_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"鳥取大学"},{"subitem_text_value":"鳥取大学"},{"subitem_text_value":"鳥取大学"}]},"item_4_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Tottori University"},{"subitem_text_language":"en","subitem_text_value":"Tottori University"},{"subitem_text_language":"en","subitem_text_value":"Tottori University"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"西田, 信一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"上仲, 大輔"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松本, 凌太"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nishida, Shinichiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Uenaka, Daisuke","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Matsumoto, Ryota","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-01-15"}],"displaytype":"detail","filename":"AA1830034060.pdf","filesize":[{"value":"1.5 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AA1830034060.pdf","url":"https://jaxa.repo.nii.ac.jp/record/2864/files/AA1830034060.pdf"},"version_id":"04d4c6cb-bb08-4ba6-b427-74d7d53b99bd"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"conference object","resourceuri":"http://purl.org/coar/resource_type/c_c94f"}]},"item_title":"Study of Active Debris Removal System with a Light Weight Robot Arm","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Study of Active Debris Removal System with a Light Weight Robot Arm","subitem_title_language":"en"}]},"item_type_id":"4","owner":"1","path":["795","1502","1828","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2019-03-15"},"publish_date":"2019-03-15","publish_status":"0","recid":"2864","relation_version_is_last":true,"title":["Study of Active Debris Removal System with a Light Weight Robot Arm"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T09:14:49.336066+00:00"}