WEKO3
アイテム
{"_buckets": {"deposit": "864e3848-fee6-487b-9284-ec34cbac5996"}, "_deposit": {"id": "439", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "439"}, "status": "published"}, "_oai": {"id": "oai:repository.dl.itc.u-tokyo.ac.jp:00000439", "sets": ["31", "14"]}, "item_2_alternative_title_1": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Disturbance Compensation Control of a Space Robot"}]}, "item_2_biblio_info_7": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "1992-08", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "4", "bibliographicPageEnd": "489", "bibliographicPageStart": "481", "bibliographicVolumeNumber": "10", "bibliographic_titles": [{"bibliographic_title": "日本ロボット学会誌"}]}]}, "item_2_description_13": {"attribute_name": "フォーマット", "attribute_value_mlt": [{"subitem_description": "application/pdf", "subitem_description_type": "Other"}]}, "item_2_description_5": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "Disturbance-compensation control of a free-flying space robot is considered in this paper. In the method proposed here, disturbances imposed on a nominal dynamic model are estimated and compensated by utilizing a combination of joint torque input and acceleration signals. The dynamics of the equivalent manipulator with a fixed base is treated as the nominal model, noting that the mass of the base satellite is usually much larger than that of the manipulator. The attitude of the base satellite changes because of the reaction force generated by the manipulator. However, the influence of the change is estimated and compensated as a disturbance based on a combination of the joint torque and the acceleration of the end-effector in the operational coordinate frame. Computation of the proposed control method is as simple as the control of a manipulator with a fixed base. The proposed method is robust against unknown disturbances and modeling errors. This method can also be extended to the case of a space robot with multiple manipulators and attitude control of the base satellite. The effectiveness of the method is demonstrated by computer simulations.", "subitem_description_type": "Abstract"}]}, "item_2_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "106504", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Arai, Hirohiko"}]}, {"nameIdentifiers": [{"nameIdentifier": "106505", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Tanie, Kazuo"}]}, {"nameIdentifiers": [{"nameIdentifier": "106506", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Tachi, Susumu"}]}]}, "item_2_publisher_20": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "日本ロボット学会"}]}, "item_2_source_id_10": {"attribute_name": "書誌レコードID", "attribute_value_mlt": [{"subitem_source_identifier": "AN00141189", "subitem_source_identifier_type": "NCID"}]}, "item_2_source_id_8": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "02891824", "subitem_source_identifier_type": "ISSN"}]}, "item_2_subject_15": {"attribute_name": "日本十進分類法", "attribute_value_mlt": [{"subitem_subject": "548.3", "subitem_subject_scheme": "NDC"}]}, "item_2_text_34": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"subitem_text_value": "Journal Article"}]}, "item_2_text_4": {"attribute_name": "著者所属", "attribute_value_mlt": [{"subitem_text_value": "機械技術研究所"}, {"subitem_text_value": "東京大学先端科学技術研究センター"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "荒井, 裕彦"}], "nameIdentifiers": [{"nameIdentifier": "106501", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "谷江, 和雄"}], "nameIdentifiers": [{"nameIdentifier": "106502", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "舘, 暲"}], "nameIdentifiers": [{"nameIdentifier": "106503", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2017-06-26"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "1004B055.pdf", "filesize": [{"value": "627.8 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 627800.0, "url": {"label": "1004B055.pdf", "url": "https://repository.dl.itc.u-tokyo.ac.jp/record/439/files/1004B055.pdf"}, "version_id": "2aae5f40-283d-464e-b727-09d30cf6cacc"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Free-Flying Space Robot", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Disturbance Estimation", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Disturbance Compensation", "subitem_subject_scheme": "Other"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "jpn"}]}, "item_resource_type": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "宇宙ロボットの外乱補償制御", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "宇宙ロボットの外乱補償制御"}]}, "item_type_id": "2", "owner": "1", "path": ["31", "14"], "permalink_uri": "http://hdl.handle.net/2261/7207", "pubdate": {"attribute_name": "公開日", "attribute_value": "2010-03-11"}, "publish_date": "2010-03-11", "publish_status": "0", "recid": "439", "relation": {}, "relation_version_is_last": true, "title": ["宇宙ロボットの外乱補償制御"], "weko_shared_id": null}
宇宙ロボットの外乱補償制御
http://hdl.handle.net/2261/7207
http://hdl.handle.net/2261/7207348f6a33-58c1-49d6-8c80-66776df5a837
名前 / ファイル | ライセンス | アクション |
---|---|---|
1004B055.pdf (627.8 kB)
|
|
Item type | 学術雑誌論文 / Journal Article(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2010-03-11 | |||||
タイトル | ||||||
タイトル | 宇宙ロボットの外乱補償制御 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Free-Flying Space Robot | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Disturbance Estimation | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Disturbance Compensation | |||||
主題Scheme | Other | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
その他のタイトル | ||||||
その他のタイトル | Disturbance Compensation Control of a Space Robot | |||||
著者 |
荒井, 裕彦
× 荒井, 裕彦× 谷江, 和雄× 舘, 暲 |
|||||
著者別名 | ||||||
識別子 | 106504 | |||||
識別子Scheme | WEKO | |||||
姓名 | Arai, Hirohiko | |||||
著者別名 | ||||||
識別子 | 106505 | |||||
識別子Scheme | WEKO | |||||
姓名 | Tanie, Kazuo | |||||
著者別名 | ||||||
識別子 | 106506 | |||||
識別子Scheme | WEKO | |||||
姓名 | Tachi, Susumu | |||||
著者所属 | ||||||
著者所属 | 機械技術研究所 | |||||
著者所属 | ||||||
著者所属 | 東京大学先端科学技術研究センター | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Disturbance-compensation control of a free-flying space robot is considered in this paper. In the method proposed here, disturbances imposed on a nominal dynamic model are estimated and compensated by utilizing a combination of joint torque input and acceleration signals. The dynamics of the equivalent manipulator with a fixed base is treated as the nominal model, noting that the mass of the base satellite is usually much larger than that of the manipulator. The attitude of the base satellite changes because of the reaction force generated by the manipulator. However, the influence of the change is estimated and compensated as a disturbance based on a combination of the joint torque and the acceleration of the end-effector in the operational coordinate frame. Computation of the proposed control method is as simple as the control of a manipulator with a fixed base. The proposed method is robust against unknown disturbances and modeling errors. This method can also be extended to the case of a space robot with multiple manipulators and attitude control of the base satellite. The effectiveness of the method is demonstrated by computer simulations. | |||||
書誌情報 |
日本ロボット学会誌 巻 10, 号 4, p. 481-489, 発行日 1992-08 |
|||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
日本十進分類法 | ||||||
主題 | 548.3 | |||||
主題Scheme | NDC | |||||
出版者 | ||||||
出版者 | 日本ロボット学会 |