{"created":"2023-06-20T14:39:28.661720+00:00","id":6220,"links":{},"metadata":{"_buckets":{"deposit":"7c157faa-d097-4ace-8b0c-022b986c5ef0"},"_deposit":{"created_by":1,"id":"6220","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"6220"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00006220","sets":["1887:1893","9:789:1031:1057"]},"author_link":["31176","31173","31177","31175","31178","31174"],"item_3_alternative_title_2":{"attribute_name":"その他のタイトル（英）","attribute_value_mlt":[{"subitem_alternative_title":"Research on transportation of large flexible structures by cooperative free-flying robots: Research on space infrastructures"}]},"item_3_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-01-20","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"46","bibliographicPageStart":"41","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":"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.","subitem_description_type":"Other"}]},"item_3_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0049057011","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":"石島, 義之"}],"nameIdentifiers":[{"nameIdentifier":"31173","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"上野, 浩史"}],"nameIdentifiers":[{"nameIdentifier":"31174","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"小田, 光茂"}],"nameIdentifiers":[{"nameIdentifier":"31175","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Ishijima, Yoshiyuki","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"31176","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Ueno, Hiroshi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"31177","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Oda, Mitsushige","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"31178","nameIdentifierScheme":"WEKO"}]}]},"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":"49057011.pdf","filesize":[{"value":"1.9 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"49057011.pdf","url":"https://jaxa.repo.nii.ac.jp/record/6220/files/49057011.pdf"},"version_id":"1333a099-81ab-49f1-89ee-45fae3c3f208"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"大型宇宙構造物","subitem_subject_scheme":"Other"},{"subitem_subject":"ISS","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙太陽光利用システム","subitem_subject_scheme":"Other"},{"subitem_subject":"大型柔軟構造物","subitem_subject_scheme":"Other"},{"subitem_subject":"軌道上組立て","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙機メンテナンス","subitem_subject_scheme":"Other"},{"subitem_subject":"制御系設計","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボットダイナミクス","subitem_subject_scheme":"Other"},{"subitem_subject":"協調的フリーフライングロボット","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":"space solar power system","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"large flexible structure","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"orbital assembly","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"spacecraft maintenance","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control system design","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot dynamics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"cooperative free-flying robot","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 report","resourceuri":"http://purl.org/coar/resource_type/c_18gh"}]},"item_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","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_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"}]},"item_type_id":"3","owner":"1","path":["1057","1893"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"6220","relation_version_is_last":true,"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"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:59:44.967454+00:00"}