{"created":"2023-06-20T14:40:43.812257+00:00","id":7653,"links":{},"metadata":{"_buckets":{"deposit":"047006c5-faca-48b4-a05f-6578dbbc20aa"},"_deposit":{"created_by":1,"id":"7653","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7653"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007653","sets":["1543:1544:1559","1887:1891"]},"author_link":["40998","41005","41002","40997","40999","41003","41004","41001","41006","41000"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"衛星捕獲時の制御遅れを含むコンタクトダイナミクス"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2005-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"114","bibliographicPageStart":"110","bibliographic_titles":[{"bibliographic_title":"平成16年度アストロダイナミクスシンポジウム:講演後刷り集"},{"bibliographic_title":"ISAS proceedings of 14th Workshop on Astrodynamics and Flight Mechanics 2004: A Collection of Technical Papers","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ターゲットを捕獲するには、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により接触力を減少させることが可能だが、与えるインピーダンス特性に減衰項や、制御時間遅れが存在すると、接触力とインピーダンスの関係の定義が困難となる。本発表では、制御遅れを含む、接触を伴う多節剛体系の運動のモデル化を行い、インピーダンス制御において、減衰項や制御遅れが接触のインパクトに及ぼす影響について考察する。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This paper presents the analysis on the contact dynamics between a robotic manipulator under impedance control and a rigid body floating in space. After the contact of two free-flying bodies in space, both parties are easily bounced away and start rotating by the contact force. In order to reduce the contact force in satellite capture, the dynamic conditions between the manipulator under impedance control and a free flying target are investigated. As an evaluation criteria, the equivalent mass of the tip of the manipulator coming from the impedance control is discussed. For the definition of the equivalent mass, the influence of the control time delay upon the equivalent mass is evaluated using numerical simulation and experiment.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0047897020","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_source_id_21":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0918-8053","subitem_source_identifier_type":"ISSN"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東北大学 工学部"},{"subitem_text_value":"東北大学 工学部"},{"subitem_text_value":"宇宙航空研究開発機構"},{"subitem_text_value":"宇宙航空研究開発機構"},{"subitem_text_value":"宇宙航空研究開発機構"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Tohoku University Faculty of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Tohoku University Faculty of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency"}]},"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":"稲場, 典康"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"上野, 浩史"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小田, 光茂"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nakanishi, Hiroki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshida, Kazuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Inaba, Noriyasu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ueno, Hiroshi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Oda, Mitsushige","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"コンタクトダイナミックス","subitem_subject_scheme":"Other"},{"subitem_subject":"衛星捕獲","subitem_subject_scheme":"Other"},{"subitem_subject":"制御時間遅れ","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボットマニピュレーター","subitem_subject_scheme":"Other"},{"subitem_subject":"インピーダンス制御","subitem_subject_scheme":"Other"},{"subitem_subject":"自由飛行体","subitem_subject_scheme":"Other"},{"subitem_subject":"数値解析","subitem_subject_scheme":"Other"},{"subitem_subject":"実験","subitem_subject_scheme":"Other"},{"subitem_subject":"contact dynamics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"satellite capture","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control time delay","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robotic manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"impedance control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"free-flying body","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"numerical analysis","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"experimentation","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":"Contact dynamics for satellite capture including the control time delay","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Contact dynamics for satellite capture including the control time delay","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1559","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7653","relation_version_is_last":true,"title":["Contact dynamics for satellite capture including the control time delay"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:36:09.718515+00:00"}