{"created":"2023-06-20T14:40:49.300585+00:00","id":7772,"links":{},"metadata":{"_buckets":{"deposit":"349f4c85-59cb-41fe-8c5e-2bacaa318062"},"_deposit":{"created_by":1,"id":"7772","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7772"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007772","sets":["1543:1544:1561","1887:1891"]},"author_link":["41817","41820","41818","41819"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"冗長自由度を持つ宇宙用柔軟マニピュレータの作業姿勢に関する動力学的考察"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2003-02","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"62","bibliographicPageStart":"57","bibliographic_titles":[{"bibliographic_title":"平成14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 12th Workshop on Astrodynamics and Flight Mechanics 2002: A Collection of Technical Papers","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本論文では、回転および直動リンクを持つ冗長柔軟宇宙ロボットの動力学解析を行う。冗長ロボットの自由度を拘束させて転置ヤコビ行列法で動かす時、どの自由度を残し、どの自由度を拘束させれば良いのか、またペイロードドッキングタスクでの望ましい作業姿勢について、エネルギー消費や発生する振動に着目して調べた。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"In this paper, dynamical analysis for task configuration of a redundant flexible space manipulator with slewing and deployable links will be done. It will be analyzed which joints have to be constrained or which the best configuration for a payload docking task is considering dynamical influence, when the robot is controlled by the transposed Jacobian method.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0045497010","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙科学研究所"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"The Institute of Space and Astronautical Science (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":"関東学院大学 工学部　機械工学科"},{"subitem_text_value":"British Columbia University Department of Mechanical Engineering"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Kanto Gakuin University Department of Mechanical Engineering, College of Engineering"},{"subitem_text_language":"en","subitem_text_value":"British Columbia University Department of Mechanical 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":"小松, 督"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Modi, Vinod J."}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Komatsu, Tadashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Modi, Vinod J.","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"冗長部品","subitem_subject_scheme":"Other"},{"subitem_subject":"動的解析","subitem_subject_scheme":"Other"},{"subitem_subject":"作業姿勢","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボットダイナミクス","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙用柔軟マニピュレータ","subitem_subject_scheme":"Other"},{"subitem_subject":"ペイロードドッキング","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"自由度","subitem_subject_scheme":"Other"},{"subitem_subject":"振動","subitem_subject_scheme":"Other"},{"subitem_subject":"エンドエフェクター","subitem_subject_scheme":"Other"},{"subitem_subject":"redundant component","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"dynamical analysis","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"task configuration","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot dynamics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"flexible space manipulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"payload docking","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"degree of freedom","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"vibration","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"end effector","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":"Dynamical analysis for task configuration of redundant flexible space manipulator with deployable links","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Dynamical analysis for task configuration of redundant flexible space manipulator with deployable links","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1561","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7772","relation_version_is_last":true,"title":["Dynamical analysis for task configuration of redundant flexible space manipulator with deployable links"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:34:19.029070+00:00"}