{"created":"2023-06-20T14:40:41.645938+00:00","id":7611,"links":{},"metadata":{"_buckets":{"deposit":"73437370-0443-4511-83dd-4bad4844e1d3"},"_deposit":{"created_by":1,"id":"7611","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7611"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007611","sets":["1543:1544:1558","1887:1891"]},"author_link":["40769","40770"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"マニフォールドを利用した宇宙ロボットの姿勢制御に関する検討"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"295","bibliographicPageStart":"290","bibliographic_titles":[{"bibliographic_title":"第15回アストロダイナミクスシンポジウム講演後刷り集　2005"},{"bibliographic_title":"Proceedings of 15th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本論文では、フィードバック制御による平面宇宙ロボットの姿勢制御問題を取り扱う。非ホロノミック拘束をもつ宇宙ロボットの姿勢をフィードバックにより制御する研究としては、これまでに直線経路に基づく不変マニフォールドを利用した手法が提案されている。ここでは、より一般的な経路に基づくマニフォールドを利用することで、フィードバック制御系の特性を改善する。具体的には、マニフォールドまでの漸近収束性、収束速度、パラメター誤差に対するロバスト性について検討する。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This paper deals with feedback control strategy for attitude reorientation of a planar space robot. While the previous work for attitude reorientation proposes to utilize an invariant manifold designed by a straight line trajectory toward the desired configuration, the present study designs invariant manifolds for general trajectories. By using the proposed manifolds, asymptotic convergence to an invariant manifold can be proved analytically, and convergence speed and robustness for parametric errors of the space robot are improved.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063480046","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":"九州大学 大学院工学研究院"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Kyushu 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":"外本, 伸治"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hokamoto, Shinji","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"姿勢制御","subitem_subject_scheme":"Other"},{"subitem_subject":"フィードバック制御","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボティックス","subitem_subject_scheme":"Other"},{"subitem_subject":"制御理論","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"不変マニフォールド","subitem_subject_scheme":"Other"},{"subitem_subject":"マニフォールド","subitem_subject_scheme":"Other"},{"subitem_subject":"ロバスト性","subitem_subject_scheme":"Other"},{"subitem_subject":"収束","subitem_subject_scheme":"Other"},{"subitem_subject":"非ホロノミック拘束","subitem_subject_scheme":"Other"},{"subitem_subject":"リアプノフ関数","subitem_subject_scheme":"Other"},{"subitem_subject":"パラメータ誤差","subitem_subject_scheme":"Other"},{"subitem_subject":"制御戦略","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"attitude control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"feedback control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robotics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control theory","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"invariant manifold","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"manifold","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robustness","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"convergence","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"nonholonomic constraint","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Lyapunov function","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"parameter error","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control strategy","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":"Considerations on attitude control of a space robot using manifolds","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Considerations on attitude control of a space robot using manifolds","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1558","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7611","relation_version_is_last":true,"title":["Considerations on attitude control of a space robot using manifolds"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:36:48.647244+00:00"}