{"created":"2023-06-20T14:40:35.463848+00:00","id":7499,"links":{},"metadata":{"_buckets":{"deposit":"d1fab355-02f3-4749-98cd-6c8d869b4031"},"_deposit":{"created_by":1,"id":"7499","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7499"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007499","sets":["1543:1544:1556","1887:1891"]},"author_link":["40016","40015","40013","40014","40011","40012"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"空気浮上実験装置を用いた非協力衛星とマニピュレータとの接触力学解析"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"379","bibliographicPageStart":"374","bibliographic_titles":[{"bibliographic_title":"第17回アストロダイナミクスシンポジウム講演後刷り集　2007"},{"bibliographic_title":"Proceedings of 17th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"宇宙空間において、ターゲットを捕獲する場合、初期接触でターゲットを弾き飛ばさないことが必須である。手先インピーダンス制御を用いて手先の見かけの慣性特性をコントロールすることによって接触力を減少させることが可能であるが、実際の宇宙空間では接触時間が非常に短く、また、ロボットの制御時間遅れや敏捷性が影響するために、ターゲットとの接触を維持することは容易ではない。本論文では、フリーフライングロボットにおける手先インピーダンス制御を用いたロボットアームと2次元微小重力環境を模擬できる空気浮上型実験装置を用いて接触力学解析を行う。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This paper presents the analysis on the contact dynamics between a robotic manipulator under impedance control and a floating target in space. After the contact of two free-flying bodies in space, both parties are easily bounced away and start rotating by the contact force. In order to reduce the contact force in satellite capture, the dynamic conditions between the manipulator under impedance control and a free flying target are investigated. As evaluation criteria, the equivalent mass of the tip of the manipulator coming from the impedance control is discussed. The influence of the impedance characteristics and the control time delay upon the equivalent mass are evaluated using experiments and numerical simulations. To replicate microgravity environment, a airfloating testbed on a stone surface plate is used.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063718062","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東北大学 工学部　機械航空工学科"},{"subitem_text_value":"東北大学 工学部　機械航空工学科"},{"subitem_text_value":"東北大学 工学部　機械航空工学科"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Tohoku University Department of Aeronautics and Space Engineering, Faculty of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Tohoku University Department of Aeronautics and Space Engineering, Faculty of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Tohoku University Department of Aeronautics and Space Engineering, Faculty of Engineering"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"児玉, 正明"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中西, 洋喜"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"吉田, 和哉"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kodama, Masaaki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nakanishi, Hiroki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshida, Kazuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"エンドエフェクタ","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"時間遅れ","subitem_subject_scheme":"Other"},{"subitem_subject":"制御系設計","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボットアーム","subitem_subject_scheme":"Other"},{"subitem_subject":"衛星捕獲","subitem_subject_scheme":"Other"},{"subitem_subject":"制御理論","subitem_subject_scheme":"Other"},{"subitem_subject":"運動方程式","subitem_subject_scheme":"Other"},{"subitem_subject":"接触力学","subitem_subject_scheme":"Other"},{"subitem_subject":"インピーダンスモデル","subitem_subject_scheme":"Other"},{"subitem_subject":"インピーダンス制御","subitem_subject_scheme":"Other"},{"subitem_subject":"等価質量","subitem_subject_scheme":"Other"},{"subitem_subject":"manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"end effector","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"time lag","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control system design","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot arm","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"satellite capture","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control theory","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"equation of motion","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"contact dynamics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"impedance model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"impedance control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"equivalent mass","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"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 paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"The analysis on the contact dynamics between a robotic manipulator and a non-cooperative satellite using an air-floating testbed","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"The analysis on the contact dynamics between a robotic manipulator and a non-cooperative satellite using an air-floating testbed","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1556","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7499","relation_version_is_last":true,"title":["The analysis on the contact dynamics between a robotic manipulator and a non-cooperative satellite using an air-floating testbed"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:38:34.276712+00:00"}