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  1. 140 先端科学技術研究センター
  2. 14010 学術雑誌論文
  1. 0 資料タイプ別
  2. 10 学術雑誌論文
  3. 015 技術・工学

宇宙ロボットの外乱補償制御

http://hdl.handle.net/2261/7207
348f6a33-58c1-49d6-8c80-66776df5a837
名前 / ファイル ライセンス アクション
1004B055.pdf 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

WEKO 106501

荒井, 裕彦

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谷江, 和雄

× 谷江, 和雄

WEKO 106502

谷江, 和雄

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舘, 暲

× 舘, 暲

WEKO 106503

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著者別名
識別子
識別子 106504
識別子Scheme WEKO
姓名
姓名 Arai, Hirohiko
著者別名
識別子
識別子 106505
識別子Scheme WEKO
姓名
姓名 Tanie, Kazuo
著者別名
識別子
識別子 106506
識別子Scheme WEKO
姓名
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
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