{"created":"2023-06-20T14:40:37.758519+00:00","id":7549,"links":{},"metadata":{"_buckets":{"deposit":"a72f1aa4-a389-414a-9f34-43da95e74e02"},"_deposit":{"created_by":1,"id":"7549","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7549"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007549","sets":["1543:1544:1557","1887:1891"]},"author_link":["40375","40373","40376","40378","40374","40377"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"角運動量を持つ宇宙ロボットの軌道計画"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2007-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"284","bibliographicPageStart":"279","bibliographic_titles":[{"bibliographic_title":"第16回アストロダイナミクスシンポジウム講演後刷り集　2006"},{"bibliographic_title":"Proceedings of 16th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"モーメンタムホイールを搭載した本体とマニピュレータから構成される宇宙ロボットにおいてエンドエフェクタを制御する場合、角運動量ベクトルとマニピュレータ形状の関係によって本体のニューテーション運動が安定化もしくは不安定化する現象がみられる。本研究では固有値解析によって、ニューテーション運動の安定性がマニピュレータ形状によって変化することを示し、冗長マニピュレータを用いて安定な運動をあたえる運動計画をおこなう。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"The problem of controlling the end effector of a space robot that consists of a main body equipped with a momentum wheel and a manipulator is difficult, because nutation of the body may become stable or unstable depending on the geometric relationship between the angular momentum vector of the wheel and the shape of the manipulator. In this paper, we show the change in the stability of nutation according to the geometric relationship by eigenvalue analysis and propose a method of planning a motion that makes the nutation stable for a space robot with a redundant manipulator.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063481048","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":"京都大学 大学院工学研究科"},{"subitem_text_value":"京都大学 工学部"},{"subitem_text_value":"神戸大学 工学部"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Kyoto University Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Kyoto University Faculty of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Kobe University 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":"峯岸, 進一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"土屋, 和雄"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"浦久保, 孝光"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Minegishi, Shinichiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tsuchiya, Kazuo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Urakubo, Takateru","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボットダイナミックス","subitem_subject_scheme":"Other"},{"subitem_subject":"地球外環境","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"モーメンタムホイール","subitem_subject_scheme":"Other"},{"subitem_subject":"軌道計画","subitem_subject_scheme":"Other"},{"subitem_subject":"姿勢角","subitem_subject_scheme":"Other"},{"subitem_subject":"ニューテーション","subitem_subject_scheme":"Other"},{"subitem_subject":"運動安定性","subitem_subject_scheme":"Other"},{"subitem_subject":"数学モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"運動方程式","subitem_subject_scheme":"Other"},{"subitem_subject":"逆運動学","subitem_subject_scheme":"Other"},{"subitem_subject":"robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot dynamics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"extraterrestrial environment","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"momentum wheel","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"motion planning","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"attitude angle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"nutation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"motion stability","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"mathematical model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"equation of motion","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"inverse kinematics","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":"Motion planning of a space robot with a momentum wheel","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Motion planning of a space robot with a momentum wheel","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1557","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7549","relation_version_is_last":true,"title":["Motion planning of a space robot with a momentum wheel"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:37:47.114808+00:00"}