{"created":"2023-06-20T14:40:41.778868+00:00","id":7613,"links":{},"metadata":{"_buckets":{"deposit":"9a48c138-d436-41cf-8758-c09d446aa403"},"_deposit":{"created_by":1,"id":"7613","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7613"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007613","sets":["1543:1544:1558","1887:1891"]},"author_link":["40774","40773","40775","40776","40778","40777"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"コーニング効果および動力学効果を踏まえた終端姿勢制御"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"306","bibliographicPageStart":"300","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":"非ホロノミックなシステムを用いると、入力としての状態量より多くの状態量を制御できる。これを積極的に用いると、機器を少なくすることができ、宇宙機のコストを下げることになる。また、1部の制御機器が故障した場合にも対応することができる。本論文では非ホロノミックな運動として、コーニング効果を用いた新しい姿勢制御則を提案する。コーニング効果とはある軸まわりに角運動量がゼロであっても、その軸がもとの方向に戻ってきたときに、結果的にその軸まわりに回転を生じる現象のことである。まず、単体の宇宙機が2つのホイールを用いて3軸姿勢制御を行うことを考える。終端制御によって、目標時間に目標姿勢を満たすことを示す。次に、2自由度のアームを動かすことで3軸制御を実現することを考える。コーニング効果だけでなく動力学効果も踏まえた複雑な運動を明らかにし、新たな姿勢制御則を提案する。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This paper shows the dynamic properties interpreted about a falling cat motion. In the IAC (International Astronautical Congress) in Vancouver last year, a new interpretation on non-holonomic turns was presented from coning effect point of view. While the last year's synthesis infers even the kinematics effect independent of dynamics may still drive the nonholonomic turn. However, that motion is, in this paper, proved not fully true and shown partly dependent on the inertia properties. This paper presents new interpretation findings which show the resulted nonholonomic turn may become reverse dependent on the moment of inertia ratio. This Fukuoka conference paper corrects the motion structure interpretation, in which a very interesting combination of kinematics and dynamics is found to govern the motion. And a numerical example is given for the spacecraft attitude maneuver, whose time history is explicitly described. A special feedforward control law is derived and applied to the maneuver. The results show the control strategy established well functions and enables the reorientation to be accomplished only via internal torque. What is presented does provide a comprehensive strategy widely applicable to spacecraft and space robots.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063480048","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":"宇宙航空研究開発機構 宇宙科学研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 宇宙科学研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 宇宙科学研究本部"}]},"item_5_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 and Astronautical Science"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space and Astronautical Science"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space and Astronautical Science"}]},"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":"森, 治"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"南川, 幸毅"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"川口, 淳一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Mori, Osamu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Minamikawa, Koki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kawaguchi, Junichiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"姿勢制御","subitem_subject_scheme":"Other"},{"subitem_subject":"コーニング運動","subitem_subject_scheme":"Other"},{"subitem_subject":"フィードフォワード制御","subitem_subject_scheme":"Other"},{"subitem_subject":"非ホロノミック方程式","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"制御理論","subitem_subject_scheme":"Other"},{"subitem_subject":"制御則","subitem_subject_scheme":"Other"},{"subitem_subject":"オイラー角","subitem_subject_scheme":"Other"},{"subitem_subject":"運動学的スピン","subitem_subject_scheme":"Other"},{"subitem_subject":"ダイナミックスピン","subitem_subject_scheme":"Other"},{"subitem_subject":"マヌーバ","subitem_subject_scheme":"Other"},{"subitem_subject":"3軸安定化","subitem_subject_scheme":"Other"},{"subitem_subject":"数学モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"制御シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"attitude control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Coning motion","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"feedforward control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"nonholonomic equation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control theory","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control law","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Euler angle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"kinematic spin","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"dynamic spin","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"maneuver","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"three axis stabilization","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"mathematical model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control simulation","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":"Attitude control of multibody using coning effect","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Attitude control of multibody using coning effect","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":"7613","relation_version_is_last":true,"title":["Attitude control of multibody using coning effect"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:36:46.957247+00:00"}