{"created":"2023-06-20T14:40:46.837153+00:00","id":7716,"links":{},"metadata":{"_buckets":{"deposit":"f9e58323-0222-4716-b162-083a15d568f1"},"_deposit":{"created_by":1,"id":"7716","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7716"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007716","sets":["1543:1544:1560","1887:1891"]},"author_link":["41456","41453","41448","41450","41454","41446","41449","41452","41447","41455","41451","41445"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"インピーダンスマッチングに基づく衛星捕獲の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":"2004-02","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"103","bibliographicPageStart":"97","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":"フリーフライングロボットが、アームを用いてターゲット衛星を捉える際の接触力学について考察する。フリーフライング状態にある宇宙機同士の接触では、その接触反力により両者が容易に弾き合い、また回転運動も生じてしまう。本論文では、この弾き合いが最小となる条件を、質量を基準としたインピーダンスモデルを用いて定式化する。ターゲットが受動的な剛体であるとすると、そのインピーダンスは質量特性によってのみ定まってしまうが、チェイサロボットアームの先端のインピーダンスは、アームのインピーダンス制御によって変えることができる。インピーダンスマッチングが成立するとき、あるいはチェイサアームをターゲットインピーダンスより小さく制御するとき、ターゲットは突き飛ばされず両者は接触を保ち続ける。2台の産業用マニピュレータを用いて、インピーダンス制御されるチェイサと浮遊ターゲットの接触運動を模擬するテストベッドを構築し、インピーダンスマッチングを用いた評価指標の有効性を実験的に検証する。また、ターゲットのスラスタノズルコーンにインピーダンス制御されるチェイサプローブを挿入することによってターゲットを捕獲する実験を行う。","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 for a free-flying space robot that attempts to capture a target. After the contact of two free-flying bodies in space, both parties are easily bounced away and start rotating by the contact force. In this paper, the conditions to minimize the bounce are discussed using an inertia-based impedance model. If the target is a passive rigid body, its impedance is determined by the inertia property. However the impedance at the end tip of the chaser's arm can be altered by the impedance control. The target may not be bounced away and can keep stable contact, if the chaser's end tip is controlled to make impedance matching with the target or to have smaller impedance than that of target. Experiments are carried out using two industrial robot manipulators as a motion simulator of chaser and target. Through the experiments, the concept of the impedance matching is verified, and a satellite capturing strategy to insert an impedance controlled probe into the thruster nozzle cone of the target is successfully demonstrated.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0046652015","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 大学院工学研究科"},{"subitem_text_value":"東北大学 大学院工学研究科"},{"subitem_text_value":"宇宙開発事業団"},{"subitem_text_value":"宇宙開発事業団"},{"subitem_text_value":"宇宙開発事業団"},{"subitem_text_value":"エイ・イー・エス"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Tohoku University Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Tohoku University Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"National Space Development Agency of Japan"},{"subitem_text_language":"en","subitem_text_value":"National Space Development Agency of Japan"},{"subitem_text_language":"en","subitem_text_value":"National Space Development Agency of Japan"},{"subitem_text_language":"en","subitem_text_value":"Advanced Engineering Services Co. Ltd."}]},"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":"西槇, 健司"}],"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":[{}]},{"creatorNames":[{"creatorName":"Nishimaki, Takeshi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"宇宙機回収","subitem_subject_scheme":"Other"},{"subitem_subject":"接触ダイナミックス","subitem_subject_scheme":"Other"},{"subitem_subject":"推力ノズルコーン","subitem_subject_scheme":"Other"},{"subitem_subject":"インピーダンスマッチング","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"ロケットエンジン","subitem_subject_scheme":"Other"},{"subitem_subject":"spacecraft recovery","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"contact dynamics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"thruster nozzle cone","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"impedance matching","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"rocket engine","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 and impedance matching for satellite capture","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Contact dynamics and impedance matching for satellite capture","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":"7716","relation_version_is_last":true,"title":["Contact dynamics and impedance matching for satellite capture"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:35:10.723139+00:00"}