{"created":"2023-06-20T14:40:42.044883+00:00","id":7617,"links":{},"metadata":{"_buckets":{"deposit":"f05b1128-1c4c-4052-81fe-c4db4a6b0eb5"},"_deposit":{"created_by":1,"id":"7617","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7617"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007617","sets":["1543:1544:1558","1887:1891"]},"author_link":["40798","40795","40797","40796"],"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フリーフライング宇宙ロボットの手先インピーダンス制御"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"340","bibliographicPageStart":"335","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だが、フリーフライングロボットの場合、ロボットのベース自身が運動するため、従来の手先インピーダンス制御では、慣性系に対して、手先インピーダンス特性を自由に特性を選択することが困難である。本論文では、フリーフライングロボットのベースの運動や、接触に伴う運動量の増減を考慮し、慣性座標系に対する手先インピーダンス制御の定式化を行い、動力学シミュレーションによってその妥当性の検討を行う。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"One of the most important phases in satellite capture by a space robot is 'contact'. In the contact phase, there is a risk that the target can be pushed away from the chaser by the contact force. The impedance control of the hand is effective in keeping the contact with the target. However, in case of free-flying robot, it is difficult to control the impedance of the hand with conventional impedance control method because of the reactive motion of the base. In this paper, we propose a method for impedance control for a free-flying space robot. The end tip of the manipulator is controlled like a mass-damper-spring system fixed at a point in space in spite of the reactive motion of the base. In order to verify the proposed method, numerical dynamics simulations are carried out. Furthermore, applications of the proposed control to orbital service missions are discussed.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063480052","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"}]},"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"}]},"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":"中西, 洋喜"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"吉田, 和哉"}],"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":"ロボットアーム","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":"制御シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"自由飛行ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"衛星捕獲","subitem_subject_scheme":"Other"},{"subitem_subject":"インピーダンス制御","subitem_subject_scheme":"Other"},{"subitem_subject":"マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"機械的インピーダンス","subitem_subject_scheme":"Other"},{"subitem_subject":"動的応答","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙デブリ","subitem_subject_scheme":"Other"},{"subitem_subject":"慣性","subitem_subject_scheme":"Other"},{"subitem_subject":"robot arm","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 simulation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"free-flying robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"satellite capture","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"impedance control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"mechanical impedance","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"dynamic response","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space debris","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"inertia","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":"Impedance control of space robot in satellite capture","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Impedance control of space robot in satellite capture","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":"7617","relation_version_is_last":true,"title":["Impedance control of space robot in satellite capture"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:36:43.232322+00:00"}