{"created":"2021-03-01T06:16:58.782215+00:00","id":439,"links":{},"metadata":{"_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":["30:31","9:10:14"]},"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_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","filename":"1004B055.pdf","filesize":[{"value":"627.8 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","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"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-03-11"},"publish_date":"2010-03-11","publish_status":"0","recid":"439","relation_version_is_last":true,"title":["宇宙ロボットの外乱補償制御"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:20.536074+00:00"}