| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2015-03-26 |
| タイトル |
|
|
タイトル |
Nonholonomic Space Robot Path Planning for Spacecraft Attitude Stabilization and Control |
|
言語 |
en |
| 言語 |
|
|
言語 |
eng |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
departmental bulletin paper |
| 著者 |
TSUDA, Shin-ichi
AOKI, Hirotaka
OKUMOTO, Takuya
|
| 著者所属（英） |
|
|
|
en |
|
|
Department of Aeronautics and Astronautics, School of Engineering, Tokai University |
| 著者所属（英） |
|
|
|
en |
|
|
Department of Aeronautics and Astronautics, School of Engineering, Tokai University |
| 著者所属（英） |
|
|
|
en |
|
|
Japan Aviation Electronics Industry Ltd. |
| 出版者 |
|
|
出版者 |
宇宙科学研究所 |
| 出版者（英） |
|
|
出版者 |
Institute of Space and Astronautical Science |
| 書誌情報 |
en : The Institute of Space and Astronautical Science report
巻 670,
p. 1-11,
発行日 1997-09
|
| 抄録（英） |
|
|
内容記述タイプ |
Other |
|
内容記述 |
This paper presents a practical path planning method for robots mounted on free-flying spacecraft using nonholonomic nature on its mechanics. Four major aspects are emphasized based on our theoretical and numerical analyses : (1) Stabilization and control of spacecraft attitude by state feedback approach, (2) Arbirary path planning is available within the allowable joint angles region, (3) Robustness of state feedback control and (4) Required accuracy and stability of the spacecraft is easily achieved. Those are important features from engineering points of view. Selfcontained spacecraft and its robot control can be established by our approach and this is validated by both theoretical and numerical analyses. |
| ISSN |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
0285-6808 |
| 書誌レコードID |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AA10632072 |
| 資料番号 |
|
|
内容記述タイプ |
Other |
|
内容記述 |
資料番号: SA0035265000 |
SA0035265.pdf (683.1 kB)
