@techreport{oai:jaxa.repo.nii.ac.jp:00006220,
 author = {石島, 義之 and 上野, 浩史 and 小田, 光茂 and Ishijima, Yoshiyuki and Ueno, Hiroshi and Oda, Mitsushige},
 month = {Jan},
 note = {In the future missions, very large-scaled structures, such as Solar Power Plant System (SSPS), will be several kilometers across its largest dimension and be composed of extremely flexible structural modules. Such structures can only be assembled in-orbit and teams of cooperative robots is essential for on-orbit assembly. This report addresses the problems of planning and control of the transportation of large and highly flexible structures by free-flying robots. An approach is proposed where the robots use their thrusters to control the 'rigid body' motion of the robot-structure system being transported and their manipulators to control and damp out vibration in the structure induced by the thruster firings. A modal active damping control law is developed, which uses measurements of the structure state provided by free-flying sensing robots. Simulation results show that this approach is effective in transporting the structure into its desired position. This report is a part of the results of the collaboration study between JAXA and MIT (Massachusetts Institute of Technology) in FY16., 資料番号: AA0049057011, レポート番号: JAXA-SP-05-011},
 title = {複数ロボットによる大型柔軟構造物の協調輸送作業に関する研究:宇宙インフラストラクチャー技術の研究},
 year = {2006}
}