{"created":"2023-06-20T14:39:28.528953+00:00","id":6218,"links":{},"metadata":{"_buckets":{"deposit":"08b14c9d-22bb-4f50-a4de-ec0e2f090cbd"},"_deposit":{"created_by":1,"id":"6218","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"6218"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00006218","sets":["1887:1893","9:789:1031:1057"]},"author_link":["31162","31164","31160","31163","31159","31161"],"item_3_alternative_title_2":{"attribute_name":"その他のタイトル（英）","attribute_value_mlt":[{"subitem_alternative_title":"Study of residual vibration suppression for a large robotic manipulator in space"}]},"item_3_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-01-20","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"34","bibliographicPageStart":"29","bibliographicVolumeNumber":"JAXA-SP-05-011","bibliographic_titles":[{"bibliographic_title":"宇宙航空研究開発機構特別資料: 平成16年度総合技術研究本部宇宙領域宇宙科学研究本部合同研究成果報告書:先行研究等"},{"bibliographic_title":"JAXA Special Publication: FY2004 Report of Joint Research Achievements of the Space Division of Institute of Aerospace Technology and Institute of Space and Astronautical Science: Pioneering Research","bibliographic_titleLang":"en"}]}]},"item_3_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This paper describes a method for operating large robotic manipulators, which generally has flexible links and joints in space. Vibration induced by flexibility is a serious problem when operating a long manipulator in orbit. Once vibration has occurred while a manipulator is handling a payload, the operator must wait for the vibration to be damped before proceeding, which decreases working efficiency. We studied a control method to suppress vibration during both manual and automatic operations. We investigated an Input Shaping feed-forward control method for damping residual vibration during operation. We discuss in detail the results of the pre-shaping vibration suppression and manual operation experiments in this paper.","subitem_description_type":"Other"}]},"item_3_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0049057009","subitem_description_type":"Other"}]},"item_3_description_33":{"attribute_name":"レポート番号","attribute_value_mlt":[{"subitem_description":"レポート番号: JAXA-SP-05-011","subitem_description_type":"Other"}]},"item_3_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構"}]},"item_3_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Japan Aerospace Exploration Agency (JAXA)"}]},"item_3_source_id_21":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1349-113X","subitem_source_identifier_type":"ISSN"}]},"item_3_source_id_24":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11984031","subitem_source_identifier_type":"NCID"}]},"item_3_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"宇宙航空研究開発機構 総合技術研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 総合技術研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 総合技術研究本部"}]},"item_3_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"澤田, 弘崇"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"上野, 浩史"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小田, 光茂"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Sawada, Hirotaka","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ueno, Hiroshi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Oda, Mitsushige","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":"2020-01-16"}],"displaytype":"detail","filename":"49057009.pdf","filesize":[{"value":"2.6 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"49057009.pdf","url":"https://jaxa.repo.nii.ac.jp/record/6218/files/49057009.pdf"},"version_id":"ba922d34-21b9-4762-8b01-ef550dab24ae"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"残留振動","subitem_subject_scheme":"Other"},{"subitem_subject":"大型宇宙構造物","subitem_subject_scheme":"Other"},{"subitem_subject":"ISS","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボットアーム","subitem_subject_scheme":"Other"},{"subitem_subject":"振動減衰","subitem_subject_scheme":"Other"},{"subitem_subject":"フィードフォーワード制御","subitem_subject_scheme":"Other"},{"subitem_subject":"動的制御","subitem_subject_scheme":"Other"},{"subitem_subject":"制御系設計","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"residual vibration","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"large space structure","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"ISS","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot arm","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"vibration damping","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"feedforward control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"dynamic control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control system design","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"technical 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