{"created":"2023-06-20T14:40:41.978135+00:00","id":7616,"links":{},"metadata":{"_buckets":{"deposit":"a509402e-3953-43fb-bce2-a5a8b36113a3"},"_deposit":{"created_by":1,"id":"7616","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7616"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007616","sets":["1543:1544:1558","1887:1891"]},"author_link":["40791","40790","40792","40789","40793","40794"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"ターゲット捕獲時における宇宙ロボットの角運動量分配制御"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"334","bibliographicPageStart":"328","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":"宇宙空間でフリーフライングロボットが回転している未知パラメータのターゲットを捕獲する際に、接触後においてチェイサーのベース姿勢を安定に保つための、ターゲットを含めた系全体の角運動量を再分配する手法について考察する。ターゲットとの接触後にアームを積極的に制御する手法と、その時に懸念されるアームとチェイサー自身との接触の危険性を回避するためのリアクションホイールを活用する手法についてそれぞれ述べる。さらにこれらの角運動量再分配に関する手法が、単腕ロボットの場合だけでなく、双腕ロボットにおいても有効である事を示す。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"A manipulator control strategy to be utilized during the post-impact phase of a satellite capturing operation is introduced. It is based on redistribution of the angular momentum in the system consisted of chaser and target satellites, in a way that keeps the chaser's base attitude stationary. The general case when the target undergoes rotational motion and its mass and inertia properties are unknown is considered. A method for accommodation of the unknown amount of angular momentum from the target satellite in a system of reaction wheels is discussed. Furthermore the application of the proposed post-impact control to a dual-arm space robot is examined.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063480051","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":"吉田, 和哉"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大木, 智久"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nikolaev, Dimitrov Dimitar"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshida, Kazuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Oki, Tomohisa","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nikolaev, Dimitrov Dimitar","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":"角運動量","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":"運動量分配制御","subitem_subject_scheme":"Other"},{"subitem_subject":"DMC","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"衛星捕獲","subitem_subject_scheme":"Other"},{"subitem_subject":"リアクションホイール","subitem_subject_scheme":"Other"},{"subitem_subject":"マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"タンブリング運動","subitem_subject_scheme":"Other"},{"subitem_subject":"運動方程式","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙デブリ","subitem_subject_scheme":"Other"},{"subitem_subject":"制御シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"angular momentum","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":"distributed momentum control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"DMC","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"satellite capturing","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"reaction wheel","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"tumbling motion","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"equation of motion","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space debris","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":"Distributed angular momentum control of space robot for capturing a tumbling target","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Distributed angular momentum control of space robot for capturing a tumbling target","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":"7616","relation_version_is_last":true,"title":["Distributed angular momentum control of space robot for capturing a tumbling target"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:36:44.095136+00:00"}