{"created":"2023-06-20T14:40:46.749082+00:00","id":7714,"links":{},"metadata":{"_buckets":{"deposit":"0282078f-0ef3-429b-a54a-50be877bfc02"},"_deposit":{"created_by":1,"id":"7714","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7714"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007714","sets":["1543:1544:1560","1887:1891"]},"author_link":["41439","41440","41437","41438"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"マニピュレータを利用した故障衛星運搬時の制御手法に関する考察"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004-02","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"90","bibliographicPageStart":"84","bibliographic_titles":[{"bibliographic_title":"平成15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 13th Workshop on Astrodynamics and Flight Mechanics 2003: A Collection of Technical Papers","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"将来の軌道上サービス実現に向けて、現在さまざまな技術課題が議論されている。故障衛星の修理などは、本サービスの大きな柱の1つと言える。このためには、修理対象宇宙機の姿勢運動推定や捕獲技術の他、捕獲後の運搬についても考察が必要である。本考察では、この中でも特に最後に指摘した「ある位置まで運搬する」制御を取り扱う。これは軌道上修理のために必要となるほか、宇宙構造物の軌道上組み立て、あるいはデブリ・不要物の軌道外投棄などにも応用される技術である。故障した衛星を運搬する際、特に修理しようとする場合は、対象を「引っ張る」とスラストによる汚染が生じるため「押す」制御を行わなければならない。この場合、系は倒立振子と同じような不安定系となり、一般に制御が複雑化する。また、運搬対象の重心位置や慣性モーメントの値などは一般に不明であるので、それらを推定しつつ制御を行わなければならない。本考察では主に2次元平面において1)マニピュレータを動かさず、サービス衛星のスラスタのみで運搬制御する2)マニピュレータ制御を運搬に積極的に利用する手法を比較することにより、マニピュレータを利用した制御が多くの面で有効であることを示した。また、精密定盤を用いた地上実験も同時に行い、本制御手法の妥当性を示した。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"On-orbit service missions such as retrieval of failed satellites or exchange of ORUs will be important space activities in future. For these missions, catching of a failed satellite, sometimes in tumbling motion, and pushing it to a certain place without contaminating the satellite will be indispensable technology. In this paper, attention is focused on transporting mission, and a simple hardware system for a service satellite as well as several control methods to transport a failed satellite to a certain target point such as the ISS is proposed. The effectiveness of the proposed methods is confirmed by several numerical simulations and by two dimensional experiments on an air-bearing test bed.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0046652013","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":"東京大学 大学院工学系研究科"},{"subitem_text_value":"東京大学 大学院工学系研究科"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"University of Tokyo Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"University of Tokyo Graduate School 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":"中村, 友哉"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中須賀, 真一"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nakamura, Yuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nakasuka, Shinichi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"故障衛星","subitem_subject_scheme":"Other"},{"subitem_subject":"運搬時制御","subitem_subject_scheme":"Other"},{"subitem_subject":"マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"軌道上サービス","subitem_subject_scheme":"Other"},{"subitem_subject":"タンブリング運動","subitem_subject_scheme":"Other"},{"subitem_subject":"回収","subitem_subject_scheme":"Other"},{"subitem_subject":"数値シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"failed satellite","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"transporting control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"orbital servicing","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"tumbling motion","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"retrieval","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"numerical simulation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"model","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":"Transporting control of a failed satellite using a manipulator","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Transporting control of a failed satellite using a manipulator","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1560","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7714","relation_version_is_last":true,"title":["Transporting control of a failed satellite using a manipulator"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:35:12.441952+00:00"}